private void formCheckDrone_Load(object sender, EventArgs e)
{
lbLatDest.Text = LatDestino.ToString();
lbLongDest.Text = LngDestino.ToString();
#region GMAP_Config
this.Size = Screen.PrimaryScreen.WorkingArea.Size;
this.Location = Screen.PrimaryScreen.WorkingArea.Location;
gMapControl1.MapProvider = GMapProviders.GoogleMap;
gMapControl1.DragButton = MouseButtons.Left;
gMapControl1.CanDragMap = true;
gMapControl1.Position = new PointLatLng(LatDrone, LngDrone);
gMapControl1.MinZoom = 0;
gMapControl1.MaxZoom = 24;
gMapControl1.Zoom = 9;
gMapControl1.AutoScroll = true;
#endregion
#region Drone_Marker
markerOverlay = new GMapOverlay("HungryDrone"); //SI FUNCIONA DEBERÍA DE IR EN EL TIMER
marker = new GMarkerArrow(new PointLatLng(LatDrone, LngDrone));
marker.ToolTipText = "Drone";
marker.ToolTip.Fill = Brushes.Black;
marker.ToolTip.Foreground = Brushes.White;
marker.ToolTip.Stroke = Pens.Black;
marker.Bearing = 0; // Rotation angle
marker.Fill = new SolidBrush(Color.FromArgb(155, Color.Red)); // Arrow color
markerOverlay.Markers.Add(marker);
#endregion
#region Destino_Marker
destino = new GMarkerGoogle(new PointLatLng(LatDestino, LngDestino), GMarkerGoogleType.red);
markerOverlay.Markers.Add(destino);
destino.ToolTipMode = MarkerTooltipMode.OnMouseOver;
destino.ToolTipText = string.Format("Destino: \n Latitud: {0} \n Longitud: {1} \n Distancia:", LatDestino, LngDestino);
#endregion
gMapControl1.Overlays.Add(markerOverlay);
}
private void LeerDatos()
{
serialport.Write(" ");
bool una = true;
while (rep)
{
try
{
rawdata = serialport.ReadLine();
#region Variables
int d;
string[] data = rawdata.Split(',');
if (data[0] != "************")
{
LatDrone = double.Parse(data[0]);
LngDrone = double.Parse(data[1]);
}
lbLat.Text = data[0];
lbLong.Text = data[1];
lbVel.Text = data[2];
lbAlt.Text = data[3];
X = float.Parse(data[4]);
Y = float.Parse(data[5]);
lbDistancia.Text = data[6];
if (int.Parse(data[6]) < 1000 && int.Parse(data[6]) > 0)
{
d = int.Parse(data[6]);
lbDistancia.Text = data[6];
}
else
{
lbDistancia.Text = "No object";
d = 2000;
}
#endregion
#region CorrerUnaVez
if (una)
{
alt = float.Parse(data[3]);
una = false;
}
#endregion
#region PictureBox_Adelante/Atras
if (X < -2)
{
var updateAction = new Action(() => { pbForward.Visible = true; });
pbForward.Invoke(updateAction);
var updateAction2 = new Action(() => { pbBackward.Visible = false; });
pbBackward.Invoke(updateAction2);
}
else if (X > 2)
{
var updateAction = new Action(() => { pbForward.Visible = false; });
pbForward.Invoke(updateAction);
var updateAction2 = new Action(() => { pbBackward.Visible = true; });
pbBackward.Invoke(updateAction2);
}
else
{
var updateAction = new Action(() => { pbForward.Visible = false; });
pbForward.Invoke(updateAction);
var updateAction2 = new Action(() => { pbBackward.Visible = false; });
pbBackward.Invoke(updateAction2);
}
#endregion
#region PictureBox_Der/Izq
if (Y < -2)
{
var updateAction = new Action(() => { pbRight.Visible = true; });
pbRight.Invoke(updateAction);
var updateAction2 = new Action(() => { pbLeft.Visible = false; });
pbLeft.Invoke(updateAction2);
}
else if (Y > 2)
{
var updateAction = new Action(() => { pbRight.Visible = false;; });
pbRight.Invoke(updateAction);
var updateAction2 = new Action(() => { pbLeft.Visible = true; });
pbLeft.Invoke(updateAction2);
}
else
{
var updateAction = new Action(() => { pbRight.Visible = false; });
pbRight.Invoke(updateAction);
var updateAction2 = new Action(() => { pbLeft.Visible = false; });
pbLeft.Invoke(updateAction2);
}
#endregion
#region PictureBox Distancia
if (d > 0 && d < 400)
{
var updateAction = new Action(() => { pb5.Visible = true; });
pb5.Invoke(updateAction);
}
else
{
var updateAction = new Action(() => { pb5.Visible = false; });
pb5.Invoke(updateAction);
}
#endregion
#region Actualizar_GPS
marker = new GMarkerArrow(new PointLatLng(LatDrone, LngDrone));
markerOverlay.Clear();
markerOverlay.Markers.Add(destino);
markerOverlay.Markers.Add(marker);
gMapControl1.Zoom = gMapControl1.Zoom + 1;
gMapControl1.Zoom = gMapControl1.Zoom - 1;
#endregion
#region PictureBox_Arriba/Abajo
if (float.Parse(data[3]) > alt + 1)
{
var updateAction = new Action(() => { pbUp.Visible = true; });
pbUp.Invoke(updateAction);
var updateAction2 = new Action(() => { pbDown.Visible = false; });
pbDown.Invoke(updateAction2);
}
else if (float.Parse(data[3]) < alt - 1)
{
var updateAction = new Action(() => { pbUp.Visible = false; });
pbUp.Invoke(updateAction);
var updateAction2 = new Action(() => { pbDown.Visible = true; });
pbDown.Invoke(updateAction2);
}
else
{
var updateAction = new Action(() => { pbUp.Visible = false; });
pbUp.Invoke(updateAction);
var updateAction2 = new Action(() => { pbDown.Visible = false; });
pbDown.Invoke(updateAction2);
}
alt = float.Parse(data[3]);
#endregion
}
catch (IOException error)
{
MessageBox.Show("Error: " + error.Message);
}
}
}
