public SimGPS(string name, SimConnector.simConnector connector)
: base(name, "")
{
this.connector = connector;
if (!values.ContainsKey("lbRMCPosition")) values.Add(new UAVParameter("lbRMCPosition",0, null, null));
if (!values.ContainsKey("lbRMCPositionLongitude")) values.Add(new UAVParameter("lbRMCPositionLongitude", 0, null, null));
if (!values.ContainsKey("lbRMCPositionLatitude")) values.Add(new UAVParameter("lbRMCPositionLatitude", 0, null, null));
if (!values.ContainsKey("lbRMCPositionUTM")) values.Add(new UAVParameter("lbRMCPositionUTM", 0, null, null));
if (!values.ContainsKey("lbRMCCourse")) values.Add(new UAVParameter("lbRMCCourse", 0, null, null));
if (!values.ContainsKey("lbRMCSpeed")) values.Add(new UAVParameter("lbRMCSpeed", 0, null, null));
if (!values.ContainsKey("lbRMCTimeOfFix")) values.Add(new UAVParameter("lbRMCTimeOfFix", 0, null, null));
if (!values.ContainsKey("lbRMCMagneticVariation")) values.Add(new UAVParameter("lbRMCMagneticVariation", 0, null, null));
if (!values.ContainsKey("lbGGAPosition")) values.Add(new UAVParameter("lbGGAPosition", 0, null, null));
if (!values.ContainsKey("lbGGATimeOfFix")) values.Add(new UAVParameter("lbGGATimeOfFix", 0, null, null));
if (!values.ContainsKey("lbGGAFixQuality")) values.Add(new UAVParameter("lbGGAFixQuality", 0, null, null));
if (!values.ContainsKey("lbGGANoOfSats")) values.Add(new UAVParameter("lbGGANoOfSats", 0, null, null));
if (!values.ContainsKey("lbGGAAltitude")) values.Add(new UAVParameter("lbGGAAltitude", 0, null, null));
if (!values.ContainsKey("lbGGAAltitudeUnit")) values.Add(new UAVParameter("lbGGAAltitudeUnit", 0, null, null));
if (!values.ContainsKey("lbGGAHDOP")) values.Add(new UAVParameter("lbGGAHDOP", 0, null, null));
if (!values.ContainsKey("lbGGAGeoidHeight")) values.Add(new UAVParameter("lbGGAGeoidHeight", 0, null, null));
if (!values.ContainsKey("lbGGADGPSupdate")) values.Add(new UAVParameter("lbGGADGPSupdate", 0, null, null));
if (!values.ContainsKey("lbGGADGPSID")) values.Add(new UAVParameter("lbGGADGPSID", 0, null, null));
if (!values.ContainsKey("lbGLLPosition")) values.Add(new UAVParameter("lbGLLPosition", 0, null, null));
if (!values.ContainsKey("lbGLLTimeOfSolution")) values.Add(new UAVParameter("lbGLLTimeOfSolution", 0, null, null));
if (!values.ContainsKey("lbGLLDataValid")) values.Add(new UAVParameter("lbGLLDataValid", 0, null, null));
if (!values.ContainsKey("lbGSAMode")) values.Add(new UAVParameter("lbGSAMode", 0, null, null));
if (!values.ContainsKey("lbGLLPosition")) values.Add(new UAVParameter("lbGLLPosition", 0, null, null));
if (!values.ContainsKey("lbGSAFixMode")) values.Add(new UAVParameter("lbGSAFixMode", 0, null, null));
if (!values.ContainsKey("lbGSAPRNs")) values.Add(new UAVParameter("lbGSAPRNs", 0, null, null));
if (!values.ContainsKey("lbGSAPDOP")) values.Add(new UAVParameter("lbGSAPDOP", 0, null, null));
if (!values.ContainsKey("lbGSAHDOP")) values.Add(new UAVParameter("lbGSAHDOP", 0, null, null));
if (!values.ContainsKey("lbGSAVDOP")) values.Add(new UAVParameter("lbGSAVDOP", 0, null, null));
if (!values.ContainsKey("lbRMEHorError")) values.Add(new UAVParameter("lbRMEHorError", 0, null, null));
if (!values.ContainsKey("lbRMEVerError")) values.Add(new UAVParameter("lbRMEVerError", 0, null, null));
if (!values.ContainsKey("lbRMESphericalError")) values.Add(new UAVParameter("lbRMESphericalError", 0, null, null));
if (!values.ContainsKey("lbRMEVerError")) values.Add(new UAVParameter("lbRMEVerError", 0, null, null));
if (!values.ContainsKey("lbRMEVerError")) values.Add(new UAVParameter("lbRMEVerError", 0, null, null));
connector.NewValues += new SimConnector.simConnector.NewValuesHandler(connector_NewValues);
/*
uavData.Add("course",new UAVParameter("course",0));
*/
}
/// <summary>
/// Builds a new PWM Object
/// </summary>
/// <param name="servoname">Name of the Object to use with uavdata["Name of Object"]</param>
/// <param name="servovalue">the Value to set on Initialisation</param>
/// <param name="device">The Hardware Device to use</param>
/// <param name="Channelnr">The Channel Number from 0 to x</param>
public SimPWM(string servoname, int servovalue, string device, Byte Channelnr, SimConnector.simConnector connector)
: base(servoname, "")
{
this.connector = connector;
values.Add(new UAVParameter("LowLimit", 1000, 1000, 2000));
values.Add(new UAVParameter("HighLimit", 2000, 1000, 2000));
values.Add(new UAVParameter("Neutral", 1500, 1000, 2000));
values.Add(new UAVParameter("Invert", 0, 0, 1));
values.Add(new UAVParameter("Value", 1000, 1000, 2000));
values["LowLimit"].ValueChanged += new UAVSingleParameter.ValueChangedHandler(PWM_ValueChanged);
values["HighLimit"].ValueChanged += new UAVSingleParameter.ValueChangedHandler(PWM_ValueChanged);
values["Neutral"].ValueChanged += new UAVSingleParameter.ValueChangedHandler(PWM_ValueChanged);
values["Invert"].ValueChanged += new UAVSingleParameter.ValueChangedHandler(PWM_ValueChanged);
//this.Value = servovalue;
channel = Channelnr;
this.device = device;
this.Min = 1000;
this.Max = 2000;
}
/// <summary>
/// Builds a new PWM Object
/// </summary>
/// <param name="servoname">Name of the Object to use with uavdata["Name of Object"]</param>
/// <param name="servovalue">the Value to set on Initialisation</param>
/// <param name="device">The Hardware Device to use</param>
/// <param name="Channelnr">The Channel Number from 0 to x</param>
public SimPWM(string servoname, int servovalue, string device, Byte Channelnr,SimConnector.simConnector connector)
: base(servoname, "")
{
this.connector = connector;
values.Add(new UAVParameter("LowLimit", 1000, 1000, 2000));
values.Add(new UAVParameter("HighLimit", 2000, 1000, 2000));
values.Add(new UAVParameter("Neutral", 1500, 1000, 2000));
values.Add(new UAVParameter("Invert", 0, 0, 1));
values.Add(new UAVParameter("Value", 1000, 1000, 2000));
values["LowLimit"].ValueChanged += new UAVSingleParameter.ValueChangedHandler(PWM_ValueChanged);
values["HighLimit"].ValueChanged += new UAVSingleParameter.ValueChangedHandler(PWM_ValueChanged);
values["Neutral"].ValueChanged += new UAVSingleParameter.ValueChangedHandler(PWM_ValueChanged);
values["Invert"].ValueChanged += new UAVSingleParameter.ValueChangedHandler(PWM_ValueChanged);
//this.Value = servovalue;
channel = Channelnr;
this.device = device;
this.Min = 1000;
this.Max = 2000;
}
public SimAHRS(string name,SimConnector.simConnector connector)
: base(name, "")
{
this.connector = connector;
values.Add(new UAVParameter("phi", 0,-180,180, 0));
values.Add(new UAVParameter("theta", 0180, 0, -180));
values.Add(new UAVParameter("psi", 0180, 0, -180));
values.Add(new UAVParameter("accx", 0, -1000, 1000, 0));
values.Add(new UAVParameter("accy", 0, -1000, 1000, 0));
values.Add(new UAVParameter("accz", 0, -1000, 1000, 0));
values.Add(new UAVParameter("magx", 0, -1000, 1000, 0));
values.Add(new UAVParameter("magy", 0, -1000, 1000, 0));
values.Add(new UAVParameter("magz", 0, -1000, 1000, 0));
values.Add(new UAVParameter("gyrogammastrich", 0, -1000, 1000, 0));
values.Add(new UAVParameter("gyrbetastrich", 0, -1000, 1000, 0));
values.Add(new UAVParameter("gyralphastrich", 0, -1000, 1000, 0));
connector.NewValues += new SimConnector.simConnector.NewValuesHandler(connector_NewValues);
}
public SimAHRS(string name, SimConnector.simConnector connector)
: base(name, "")
{
this.connector = connector;
values.Add(new UAVParameter("phi", 0, -180, 180, 0));
values.Add(new UAVParameter("theta", 0180, 0, -180));
values.Add(new UAVParameter("psi", 0180, 0, -180));
values.Add(new UAVParameter("accx", 0, -1000, 1000, 0));
values.Add(new UAVParameter("accy", 0, -1000, 1000, 0));
values.Add(new UAVParameter("accz", 0, -1000, 1000, 0));
values.Add(new UAVParameter("magx", 0, -1000, 1000, 0));
values.Add(new UAVParameter("magy", 0, -1000, 1000, 0));
values.Add(new UAVParameter("magz", 0, -1000, 1000, 0));
values.Add(new UAVParameter("gyrogammastrich", 0, -1000, 1000, 0));
values.Add(new UAVParameter("gyrbetastrich", 0, -1000, 1000, 0));
values.Add(new UAVParameter("gyralphastrich", 0, -1000, 1000, 0));
connector.NewValues += new SimConnector.simConnector.NewValuesHandler(connector_NewValues);
}
public SimGPS(string name, SimConnector.simConnector connector)
: base(name, "")
{
this.connector = connector;
if (!values.ContainsKey("lbRMCPosition"))
{
values.Add(new UAVParameter("lbRMCPosition", 0, null, null));
}
if (!values.ContainsKey("lbRMCPositionLongitude"))
{
values.Add(new UAVParameter("lbRMCPositionLongitude", 0, null, null));
}
if (!values.ContainsKey("lbRMCPositionLatitude"))
{
values.Add(new UAVParameter("lbRMCPositionLatitude", 0, null, null));
}
if (!values.ContainsKey("lbRMCPositionUTM"))
{
values.Add(new UAVParameter("lbRMCPositionUTM", 0, null, null));
}
if (!values.ContainsKey("lbRMCCourse"))
{
values.Add(new UAVParameter("lbRMCCourse", 0, null, null));
}
if (!values.ContainsKey("lbRMCSpeed"))
{
values.Add(new UAVParameter("lbRMCSpeed", 0, null, null));
}
if (!values.ContainsKey("lbRMCTimeOfFix"))
{
values.Add(new UAVParameter("lbRMCTimeOfFix", 0, null, null));
}
if (!values.ContainsKey("lbRMCMagneticVariation"))
{
values.Add(new UAVParameter("lbRMCMagneticVariation", 0, null, null));
}
if (!values.ContainsKey("lbGGAPosition"))
{
values.Add(new UAVParameter("lbGGAPosition", 0, null, null));
}
if (!values.ContainsKey("lbGGATimeOfFix"))
{
values.Add(new UAVParameter("lbGGATimeOfFix", 0, null, null));
}
if (!values.ContainsKey("lbGGAFixQuality"))
{
values.Add(new UAVParameter("lbGGAFixQuality", 0, null, null));
}
if (!values.ContainsKey("lbGGANoOfSats"))
{
values.Add(new UAVParameter("lbGGANoOfSats", 0, null, null));
}
if (!values.ContainsKey("lbGGAAltitude"))
{
values.Add(new UAVParameter("lbGGAAltitude", 0, null, null));
}
if (!values.ContainsKey("lbGGAAltitudeUnit"))
{
values.Add(new UAVParameter("lbGGAAltitudeUnit", 0, null, null));
}
if (!values.ContainsKey("lbGGAHDOP"))
{
values.Add(new UAVParameter("lbGGAHDOP", 0, null, null));
}
if (!values.ContainsKey("lbGGAGeoidHeight"))
{
values.Add(new UAVParameter("lbGGAGeoidHeight", 0, null, null));
}
if (!values.ContainsKey("lbGGADGPSupdate"))
{
values.Add(new UAVParameter("lbGGADGPSupdate", 0, null, null));
}
if (!values.ContainsKey("lbGGADGPSID"))
{
values.Add(new UAVParameter("lbGGADGPSID", 0, null, null));
}
if (!values.ContainsKey("lbGLLPosition"))
{
values.Add(new UAVParameter("lbGLLPosition", 0, null, null));
}
if (!values.ContainsKey("lbGLLTimeOfSolution"))
{
values.Add(new UAVParameter("lbGLLTimeOfSolution", 0, null, null));
}
if (!values.ContainsKey("lbGLLDataValid"))
{
values.Add(new UAVParameter("lbGLLDataValid", 0, null, null));
}
if (!values.ContainsKey("lbGSAMode"))
{
values.Add(new UAVParameter("lbGSAMode", 0, null, null));
}
if (!values.ContainsKey("lbGLLPosition"))
{
values.Add(new UAVParameter("lbGLLPosition", 0, null, null));
}
if (!values.ContainsKey("lbGSAFixMode"))
{
values.Add(new UAVParameter("lbGSAFixMode", 0, null, null));
}
if (!values.ContainsKey("lbGSAPRNs"))
{
values.Add(new UAVParameter("lbGSAPRNs", 0, null, null));
}
if (!values.ContainsKey("lbGSAPDOP"))
{
values.Add(new UAVParameter("lbGSAPDOP", 0, null, null));
}
if (!values.ContainsKey("lbGSAHDOP"))
{
values.Add(new UAVParameter("lbGSAHDOP", 0, null, null));
}
if (!values.ContainsKey("lbGSAVDOP"))
{
values.Add(new UAVParameter("lbGSAVDOP", 0, null, null));
}
if (!values.ContainsKey("lbRMEHorError"))
{
values.Add(new UAVParameter("lbRMEHorError", 0, null, null));
}
if (!values.ContainsKey("lbRMEVerError"))
{
values.Add(new UAVParameter("lbRMEVerError", 0, null, null));
}
if (!values.ContainsKey("lbRMESphericalError"))
{
values.Add(new UAVParameter("lbRMESphericalError", 0, null, null));
}
if (!values.ContainsKey("lbRMEVerError"))
{
values.Add(new UAVParameter("lbRMEVerError", 0, null, null));
}
if (!values.ContainsKey("lbRMEVerError"))
{
values.Add(new UAVParameter("lbRMEVerError", 0, null, null));
}
connector.NewValues += new SimConnector.simConnector.NewValuesHandler(connector_NewValues);
/*
* uavData.Add("course",new UAVParameter("course",0));
*/
}
public virtual void ConnectPeripherals()
{
if (Convert.ToBoolean(ConfigurationSettings.AppSettings["UseSimulator"]))
{
/// In Case ConfigValue UseSimulator is True
///Connects to Xplane as a Simulator
/// Forwards all Output to the Simulator and Fetches Sensor Inputs from the Sim
SimConnector.simConnector connector = new SimConnector.simConnector(SimConnector.SimulatorType.Xplane, ConfigurationSettings.AppSettings["SimulatorIP"]);
connector.Start();
uavData.Add(new SimGPS("GPS", connector));
uavData.Add(new SimAHRS("AHRS", connector));
uavData.Add(new SimPWM("Motor", 1000, null, 3, connector));
uavData.Add(new SimPWM("Höhenruder", 1000, null, 2, connector));
uavData.Add(new SimPWM("Querruder", 1000, null, 1, connector));
uavData.Add(new SimPWM("Seitenruder", 1000, null, 4, connector));
}
else
{
/// In Case use Simulator is False Connect to the Hardware
Console.WriteLine("AHRS Device:" + FlightControlCommons.UsbHelper.GetDevicPathebyClass("AHRS"));
Console.WriteLine("GPS Device:" + FlightControlCommons.UsbHelper.GetDevicPathebyClass("GPS"));
// Verbinde mit Sensoren
try
{
uavData.Add(new GPS("GPS", UsbHelper.GetDevicPathebyClass("GPS"), 38400));
// Console.WriteLine("Verbindung mit GPS Reciever erfolgreich");
}
catch (Exception ex)
{
Console.WriteLine("Fehler beim Verbinden mit dem GPS");
Console.WriteLine(ex.Message + "\n" + ex.StackTrace.ToString());
}
try
{
// Console.WriteLine("Versuche AHRS unter " + USBHelper.GetDevices()[ConfigurationSettings.AppSettings["AHRSDeviceID"]] + "zu finden...");
uavData.Add(new AHRS("AHRS", UsbHelper.GetDevicPathebyClass("AHRS"))); //USBHelper.GetDevices()["0403:6001"] /dev/ttyUSB0
// Console.WriteLine("Verbindung mit AHRS Sensor erfolgreich");
}
catch (Exception ex)
{
Console.WriteLine("exception:" + ex.ToString());
Console.WriteLine("Fehler beim Verbinden mit dem AHRS");
}
try
{
// Verbinde mit Servos
uavData.Add(new PWM("Motor", 0, null, 4));
uavData.Add(new PWM("Höhenruder", 0, null, 2));
uavData.Add(new PWM("Querruder", 0, null, 1));
uavData.Add(new PWM("Seitenruder", 0, null, 3));
// Console.WriteLine("Verbindung mit dem Mini Maestro erfolgreich");
}
catch (Exception ex)
{
Console.WriteLine("Fehler beim Verbinden mit dem Mini Maestro");
Console.WriteLine(ex.Message + "\n" + ex.StackTrace.ToString());
}
}
uavData.Add(new UAVStructure("Joystick", ""));
}
public virtual void ConnectPeripherals()
{
if (Convert.ToBoolean(ConfigurationSettings.AppSettings["UseSimulator"]))
{
/// In Case ConfigValue UseSimulator is True
///Connects to Xplane as a Simulator
/// Forwards all Output to the Simulator and Fetches Sensor Inputs from the Sim
SimConnector.simConnector connector = new SimConnector.simConnector(SimConnector.SimulatorType.Xplane, ConfigurationSettings.AppSettings["SimulatorIP"]);
connector.Start();
uavData.Add(new SimGPS("GPS", connector));
uavData.Add(new SimAHRS("AHRS", connector));
uavData.Add(new SimPWM("Motor", 1000, null, 3, connector));
uavData.Add(new SimPWM("Höhenruder", 1000, null, 2, connector));
uavData.Add(new SimPWM("Querruder", 1000, null, 1, connector));
uavData.Add(new SimPWM("Seitenruder", 1000, null, 4, connector));
}
else
{
/// In Case use Simulator is False Connect to the Hardware
Console.WriteLine("AHRS Device:" + FlightControlCommons.UsbHelper.GetDevicPathebyClass("AHRS"));
Console.WriteLine("GPS Device:" + FlightControlCommons.UsbHelper.GetDevicPathebyClass("GPS"));
// Verbinde mit Sensoren
try
{
uavData.Add(new GPS("GPS", UsbHelper.GetDevicPathebyClass("GPS"), 38400));
// Console.WriteLine("Verbindung mit GPS Reciever erfolgreich");
}
catch (Exception ex)
{
Console.WriteLine("Fehler beim Verbinden mit dem GPS");
Console.WriteLine(ex.Message + "\n" + ex.StackTrace.ToString());
}
try
{
// Console.WriteLine("Versuche AHRS unter " + USBHelper.GetDevices()[ConfigurationSettings.AppSettings["AHRSDeviceID"]] + "zu finden...");
uavData.Add(new AHRS("AHRS", UsbHelper.GetDevicPathebyClass("AHRS"))); //USBHelper.GetDevices()["0403:6001"] /dev/ttyUSB0
// Console.WriteLine("Verbindung mit AHRS Sensor erfolgreich");
}
catch (Exception ex)
{
Console.WriteLine("exception:" + ex.ToString());
Console.WriteLine("Fehler beim Verbinden mit dem AHRS");
}
try
{
// Verbinde mit Servos
uavData.Add(new PWM("Motor", 0, null, 4));
uavData.Add(new PWM("Höhenruder", 0, null, 2));
uavData.Add(new PWM("Querruder", 0, null, 1));
uavData.Add(new PWM("Seitenruder", 0, null, 3));
// Console.WriteLine("Verbindung mit dem Mini Maestro erfolgreich");
}
catch (Exception ex)
{
Console.WriteLine("Fehler beim Verbinden mit dem Mini Maestro");
Console.WriteLine(ex.Message + "\n" + ex.StackTrace.ToString());
}
}
uavData.Add(new UAVStructure("Joystick", ""));
}
