private void PauseResumeStartMission(Uav uav, System.Windows.Forms.Button btn)
{
string[] args = new string[] { uav.ConnectionType, uav.Ip, uav.Port };
string app = "";
int newStatus = 0;
switch (uav.MissionStatus)
{
case 0:
app = "StartMission.py"; // not sure
newStatus = 1;
break;
case 1:
app = "PauseMission.py";
newStatus = 2;
break;
case 2:
app = "ResumeMission.py";
newStatus = 1;
break;
}
Log(RunPythonProc(@"Apps\" + app, new string[] { uav.ConnectionType, uav.Ip, uav.Port }));
// check if everything is ok
uav.MissionStatus = newStatus;
btn.Text = newStatus == 1 ? "Pause mission" : "Resume mission";
}
internal void SendMissionStatusToSup(Uav uav)
{
foreach (var i in Connections)
{
if (!(i is Coordinator))
{
continue;
}
(i as Coordinator).SendMissionStatus(uav);
}
}
public void SendMissionStatus(Uav uav)
{
if (!Connected || uav.MissionFileName == "")
{
return;
}
string message = "Mission;";
message += uav.Name + "," + uav.Ip + "," + uav.Port + "," + uav.ConnectionType + ";";
message += uav.MissionCode + ";";
message += uav.MissionStatus;
SendMsg(message);
}
private void LoadMission(Uav uav)
{
OpenFileDialog fileDialog = new OpenFileDialog();
if (fileDialog.ShowDialog() == DialogResult.OK)
{
string fileName = fileDialog.FileName;
// Generate mission code randomly:
var rnd = new Random();
var code = new string(Enumerable.Repeat("ABCDEFGHIJKLMNOPQRSTUVWXYZ0123456789", 16).Select(s => s[rnd.Next(s.Length)]).ToArray());
LoadMission(uav, fileName, code);
}
}
internal void LoadMission(Uav uav, string fileName, string code)
{
string[] lines = File.ReadAllLines(fileName);
List <PointLatLng> wps = new List <PointLatLng>();
for (int i = 1; i < lines.Length; i++)
{
string[] line = lines[i].Split('\t');
wps.Add(new PointLatLng(ParseDouble(line[8]), ParseDouble(line[9])));
}
uav.WaypointsLL = wps;
uav.MissionFileName = fileName;
uav.MissionCode = code;
Log(RunPythonProc(@"Apps\UploadMission.py", new string[] { uav.ConnectionType, uav.Ip, uav.Port, fileName }));
}
public void SendMission(Uav uav)
{
if (!Connected)
{
return;
}
string message = "Mission;";
message += uav.Name + "," + uav.Ip + "," + uav.Port + "," + uav.ConnectionType + ";";
message += uav.MissionCode + ";";
if (uav.MissionFileName != "")
{
message += File.ReadAllText(uav.MissionFileName);
}
SendMsg(message);
}
private void PaintOnMap(object sender, PaintEventArgs e)
{
foreach (var o_i in Connections)
{
if (!(o_i is Uav))
{
continue;
}
Uav i = o_i as Uav;
Color c = i.UavColor;
if (i.WaypointsAP != null)
{
for (int j = 0; j < i.WaypointsAP.Count - 1; j++)
{
PointF p1 = PixelPosition(i.WaypointsAP[j]),
p2 = PixelPosition(i.WaypointsAP[j + 1]);
e.Graphics.DrawLine(new Pen(c, 3), p1, p2);
}
int count = 1;
foreach (var wp in i.WaypointsAP)
{
DrawWaypoint(count++, c, PixelPosition(wp), e.Graphics);
}
}
}
foreach (var o_i in Connections)
{
if (!(o_i is Uav))
{
continue;
}
Uav i = o_i as Uav;
if (i.HasPosition)
{
PointF p = PixelPosition(i.CurrentPixelPosition);
e.Graphics.DrawImage(i.UavBitmap, new PointF(p.X - 33, p.Y - 33));
}
}
}
private object[] GetUavInfo(Uav uav)
{
PointLatLng pos;
float heading;
int currWp;
try
{
string[] uavInfo = RunPythonProc(@"Apps\CurrentState.py", new string[] { uav.ConnectionType, uav.Ip, uav.Port }).Split(", ".ToCharArray(), StringSplitOptions.RemoveEmptyEntries);
pos = new PointLatLng(ParseDouble(uavInfo[0]), ParseDouble(uavInfo[1]));
heading = ParseFloat(uavInfo[4]);
currWp = int.Parse(uavInfo[5]);
}
catch (Exception)
{
throw new Exception();
}
return(new object[] { pos, heading, currWp });
}
private void ReturnToHome(Uav uav)
{
Log(RunPythonProc(@"Apps\ReturnToHome.py", new string[] { uav.ConnectionType, uav.Ip, uav.Port }));
}
private void TakeOff(Uav uav)
{
Log(RunPythonProc(@"Apps\ArmTakeoffAuto.py", new string[] { uav.ConnectionType, uav.Ip, uav.Port }));
}
private void ConnectUav(Uav uav)
{
//
}
public MainForm()
{
Thread.CurrentThread.CurrentCulture = System.Globalization.CultureInfo.GetCultureInfo("en-US");
InitializeComponent();
ResizeRedraw = true;
Size = new Size(640, 640);
InitMap();
Paint += DrawTopPanel;
InitHiddenComponents();
LoadWorkspace();
SetStyle(ControlStyles.OptimizedDoubleBuffer, true);
for (int i = 0; i < 5; i++)
{
TopBtnIcons.Add(new Bitmap(@"Images\top-btn-" + i + ".png"));
}
for (int i = 0; i < 5; i++)
{
TopBtnIcons.Add(new Bitmap(@"Images\top-btn-" + i + "-active.png"));
}
new Thread(new ThreadStart(() => {
while (true)
{
ConnectionsListMutex.WaitOne();
foreach (var i in Connections)
{
if (!(i is Uav))
{
continue;
}
try
{
var uavInfo = GetUavInfo(i as Uav);
(i as Uav).CurrentPosition = (PointLatLng)uavInfo[0];
(i as Uav).Angle = (float)uavInfo[1];
(i as Uav).CurrentWpNum = (int)uavInfo[2];
}
catch (Exception)
{
/*LogBox.Invoke((MethodInvoker)delegate {
* var text = "Could not obtain " + i.Name + "'s state\n";
* if (LogBox.Text == "None") LogBox.Text = text;
* else LogBox.Text += text;
* });*/
}
}
ConnectionsListMutex.ReleaseMutex();
Thread.Sleep(100);
}
})).Start();
// Example
foreach (var i in Connections)
{
if (!(i is Uav))
{
continue;
}
Uav j = i as Uav;
if (j.Name != "UAV 2")
{
continue;
}
j.CurrentPosition = new PointLatLng(-35.362988, 149.1651245);
j.Angle = 45f;
break;
}
}
private Connection AddConnection(string name, string ip, string port, int type, Color uavColor, string fileName, string missionCode)
{
int panelHeight = 74;
Panel conPanel = new Panel();
conPanel.Location = new Point(0, ConnectionsContainer.Controls.Count * panelHeight);
conPanel.Size = new Size(ConnectionsContainer.ClientSize.Width, panelHeight);
var labels = new Label[] { new Label(), new Label() };
labels[0].Text = name;
labels[1].Text = "IP: " + ip + ", port: " + port;
var f = new Font(new FontFamily("Arial"), 11);
foreach (var i in labels)
{
i.ForeColor = Color.White;
i.Font = f;
i.Width = TextRenderer.MeasureText(i.Text, f).Width;
conPanel.Controls.Add(i);
}
int y = panelHeight - (labels[0].Height + labels[1].Height + 4);
labels[0].Location = new Point(6 + 74 + 6, y);
labels[1].Location = new Point(6 + 74 + 6, y + labels[0].Height + 4);
Connection con = null;
int btnWidth = 95;
List <System.Windows.Forms.Button> btns = new List <System.Windows.Forms.Button>();
btns.Add(new System.Windows.Forms.Button());
btns[0].Text = "Delete";
btns[0].Width = btnWidth;
btns[0].Location = new Point(conPanel.ClientSize.Width - btns[0].Width, panelHeight / 2 - btns[0].Height / 2);
if (type == 0 || type == 1)
{
con = new Uav(type == 0 ? "udp" : "tcp", ip, port, name, uavColor, this);
if (fileName != "" && missionCode != "")
{
LoadMission(con as Uav, fileName, missionCode);
}
Connections.Add(con);
var bmp = new Bitmap(74, 74);
Graphics.FromImage(bmp).DrawImage((con as Uav).UavDrawingBmp, new Point(6, 8 + 4));
conPanel.BackgroundImage = bmp;
conPanel.BackgroundImageLayout = ImageLayout.None;
btns[0].Location = new Point(conPanel.ClientSize.Width - btns[0].Width, panelHeight / 2 - btns[0].Height - 1);
btns.Add(new System.Windows.Forms.Button());
btns[1].Text = "Start mission";
btns[1].Width = btnWidth;
if ((con as Uav).MissionFileName == "")
{
btns[1].Enabled = false;
}
btns[1].Location = new Point(btns[0].Location.X - 2 - btns[1].Width, btns[0].Location.Y);
btns[1].Click += (e, sender) => {
PauseResumeStartMission(con as Uav, btns[1]);
};
btns.Add(new System.Windows.Forms.Button());
btns[2].Text = "Take off";
btns[2].Width = btnWidth;
btns[2].Location = new Point(conPanel.ClientSize.Width - btns[2].Width, btns[0].Location.Y + 2 + btns[0].Height);
btns[2].Click += (e, sender) => { TakeOff(con as Uav); };
btns.Add(new System.Windows.Forms.Button());
btns[3].Text = "Home";
btns[3].Width = btnWidth;
btns[3].Location = new Point(btns[2].Location.X - 2 - btns[3].Width, btns[2].Location.Y);
btns[3].Click += (e, sender) => { ReturnToHome(con as Uav); };
btns.Add(new System.Windows.Forms.Button());
btns[4].Text = (con as Uav).MissionFileName == "" ? "Load mission" : "Clear mission";
btns[4].Width = btnWidth;
btns[4].Location = new Point(btns[1].Location.X - 2 - btns[4].Width, btns[1].Location.Y);
btns[4].Click += (sender, e) => {
try
{
if ((con as Uav).MissionFileName == "")
{
LoadMission(con as Uav);
btns[1].Enabled = true;
btns[1].Text = "Start mission";
btns[4].Text = "Clear mission";
}
else
{
(con as Uav).MissionFileName = "";
(con as Uav).MissionCode = "";
(con as Uav).MissionStatus = 0;
(con as Uav).WaypointsLL = null;
btns[1].Enabled = false;
btns[1].Text = "Start mission";
btns[4].Text = "Load mission";
}
}
catch (Exception)
{
MessageBox.Show("Invalid file format", "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
}
};
}
else
{
con = new Coordinator(ip, port, name, this);
Connections.Add(con);
btns.Add(new System.Windows.Forms.Button());
btns[1].Text = "Connect";
btns[1].Width = btnWidth;
btns[1].Location = new Point(btns[0].Location.X - 2 - btns[1].Width, btns[0].Location.Y);
btns[1].Click += (e, sender) => {
Cursor = Cursors.WaitCursor;
Coordinator c = con as Coordinator;
try
{
if (!c.Connected)
{
c.Connect();
}
else
{
c.Disconnect();
}
btns[1].Text = c.Connected ? "Disconnect" : "Connect";
}
catch (Exception err)
{
MessageBox.Show(err.Message, "", MessageBoxButtons.OK, MessageBoxIcon.Error);
}
Cursor = Cursors.Default;
};
}
foreach (var i in btns)
{
i.Anchor = AnchorStyles.Right;
i.BackColor = SystemColors.Control;
conPanel.Controls.Add(i);
}
btns[0].Click += (e, sender) => {
btns[0].Enabled = false;
new Thread(new ThreadStart(() => {
ConnectionsListMutex.WaitOne();
Connections = new ConcurrentBag <Connection>(Connections.Except(new[] { con }));
ConnectionsListMutex.ReleaseMutex();
Invoke((MethodInvoker) delegate {
var ind = ConnectionsContainer.Controls.IndexOf(conPanel);
for (int i = ind; i < ConnectionsContainer.Controls.Count; i++)
{
ConnectionsContainer.Controls[i].Location = new Point(0, ConnectionsContainer.Controls[i].Location.Y - panelHeight);
}
ConnectionsContainer.Controls.Remove(conPanel);
});
})).Start();
};
ConnectionsContainer.Controls.Add(conPanel);
return(con);
}
