private void btnSend_Click(object sender, EventArgs e)
{
ControlUpdate update = new ControlUpdate(); //Creates new instance of ControlUpdate
update.Throttle = Convert.ToDouble(trkThrottle.Value); //Defines the Throttle of Control Update with the track bar value
update.ElevatorPitch = Convert.ToDouble(trkPitch.Value); //Defines the pitch of control update with the track bar value
eventControls?.Invoke(update); //Invokes the eventControls events using the assigned delegate sends the update instance to SendData
}
private void SendData(ControlUpdate updates)
{
//Serialises the contents of updates to JSON format
JavaScriptSerializer Serializer = new JavaScriptSerializer();
string jsonString = Serializer.Serialize(updates);
NetworkStream stream = m_client.GetStream();
byte[] rawData = Encoding.ASCII.GetBytes(jsonString);
lblJsonSent.Text = jsonString; //Redefines the text inside lblJsonSent with the new message
stream.Write(rawData, 0, rawData.Length); //Writes this message to the stream for the server to pick up
}
public Form1()
{
InitializeComponent();
//Assign events with their repective delegates and functions
eventControls += new ControlsUpdated(SendData);
eventTelemetry += new TelemetryUpdated(RecievedMessage);
eventWarnings += new WarningUpdated(UpdateWarnings);
TU = new TelemetryUpdate();
CU = new ControlUpdate();
}
private void updateFormControls(ControlUpdate CU)
{
if (this.InvokeRequired) //Ensure that the delegate has been invoked before use
{
this.Invoke(new ControlsUpdated(updateFormControls), new object[] { CU });
}
else
{
trkThrottle.Value = Convert.ToInt32(CU.Throttle); //Update the status of the throttle track bar
trkPitch.Value = Convert.ToInt32(CU.ElevatorPitch); //Update the status of the pitch track bar
lblThrottleControl.Text = CU.Throttle.ToString(); //Update the throrttle label
lblPitchControl.Text = CU.ElevatorPitch.ToString(); //Update the pitch label
eventControls.Invoke(CU); //Invoek the eventControls event, this event ends with the new data being sent to the server
}
}
private void AutomaticControls() //the auto pilot operates in a different thread
{
double targetSpeed = 0;
double targetAltitude = 0;
if (txtTargetSpeeds.Text == "")
{
targetSpeed = Convert.ToDouble(lblSpeed.Text); //if no targer speed is entered the plane will keep at the same speed
}
else
{
targetSpeed = Convert.ToDouble(txtTargetSpeeds.Text);
} //Else the speed in the correct text box is set to the new target speed
if (txtTargetAltitude.Text == "")
{
targetAltitude = Convert.ToDouble(lblAltitude.Text);//if no targer altitude is entered the plane will keep at the same altitude
}
else
{
targetAltitude = Convert.ToDouble(txtTargetAltitude.Text);
} //Else the altitude in the correct text box is set to the new target altitude
while (true) //Infinite loop, this loop is killed when the thread is closed
{
//Defines each variable with the correct values
double labelSpeed = Convert.ToDouble(lblSpeed.Text);
double labelAltidude = Convert.ToDouble(lblAltitude.Text);
double labelPitch = Convert.ToDouble(lblPitch.Text);
double labelThrottle = Convert.ToDouble(lblThrottle.Text);
double labelElevatorPitch = Convert.ToDouble(lblElevatorPitch.Text);
ControlUpdate CU = new ControlUpdate(); //Defines a new instance of ControlUpdate
//If the plane is going too slow
if (targetSpeed > labelSpeed)
{
if ((labelThrottle + 10) <= 100)
{
CU.Throttle = labelThrottle + 10; //Increase throttle by 10
}
else
{
CU.Throttle = 100; //Ensures the thottle cannot go over 100
}
}
//If the plane is going too fast
if (targetSpeed < labelSpeed)
{
if ((labelThrottle - 10) >= 0)
{
CU.Throttle = labelThrottle - 10; //Decrease throttle by 10
}
else
{
CU.Throttle = 0; //Ensures the throttle cannot go below 0
}
}
if (targetSpeed == labelSpeed) //If at desired speed throttle is 0
{
CU.Throttle = 0;
}
//The next checks determine the plane altitude
//The plane cannot exceed 20 degrees in pitch
//The plane cannot go below -5 degrees in pitch
//The elevatorsa cannot exceed setting 2
//The elevators cannot go lower than -1
//These protects are placed so the plane remains stable
//Checks if plane is currently lower altitude that target altitude
if (targetAltitude < labelAltidude)
{
if (labelPitch < -5) //If plane pitch degrees is higher than -5 degrees
{
if (labelElevatorPitch < 2) //If plane elevators are lower than 2
{
CU.ElevatorPitch = labelElevatorPitch + 1; //Increase elevators
CU.Throttle = 50; //Increase speed to pull out of nose dive
}
else
{
CU.ElevatorPitch = 2; //Else set elevators to 2
}
}
else
{
if (labelElevatorPitch > -1) //If elevators are not set below -1
{
CU.ElevatorPitch = labelElevatorPitch - 1; // Lower elevators
}
else
{
CU.ElevatorPitch = -1; //Set elevators to -1
}
}
}
//If plane is above target altitude
if (targetAltitude > labelAltidude)
{
if (labelPitch > 20) //if angle of attack is greater than 20
{
if (labelElevatorPitch > -1) //Ensuring no more than -1 elevator control
{
CU.ElevatorPitch = labelElevatorPitch - 1; //Decrease elevators
}
else
{
CU.ElevatorPitch = -1;
}
}
else
{
if (labelElevatorPitch < 2) //If elevators are not above 2
{
CU.ElevatorPitch = labelElevatorPitch + 1; //Increase elvators
}
else
{
CU.ElevatorPitch = 2; //Set elevators to 2
}
}
}
//Send new ControlUpdate to updateformcontrols to be send the data to the server
updateFormControls(CU);
Thread.Sleep(100); //Sleeps the thread
}
}
