private void btnAccept_Click(object sender, EventArgs e)
{
_wp.alt = Convert.ToDouble(txtwpalt.Text);
_wp.head = Convert.ToDouble(txtwphead.Text);
_wp.curvesize = Convert.ToDouble(txtwpcurvesize.Text);
_wp.rotationdir = Convert.ToDouble(txtwprotdirection.Text);
_wp.gimblemode = Convert.ToInt16(txtwpgimblemode.Text);
_wp.gimblepitch = Convert.ToDouble(txtgimblepitch.Text);
int action_id = cmbActions.SelectedIndex;
Models.Action action = _wpg.ActionAt(action_id);
string name = action.name;
int[,] actions = action.actions;
_wp.actions = actions;
_gmap.ReDrawgMap();
this.Close();
}
private void btnNextWP_Click(object sender, EventArgs e)
{
// Save current wp
_wp.alt = Convert.ToDouble(txtwpalt.Text);
_wp.head = Convert.ToDouble(txtwphead.Text);
_wp.curvesize = Convert.ToDouble(txtwpcurvesize.Text);
_wp.rotationdir = Convert.ToDouble(txtwprotdirection.Text);
_wp.gimblemode = Convert.ToInt16(txtwpgimblemode.Text);
_wp.gimblepitch = Convert.ToDouble(txtgimblepitch.Text);
int action_id = cmbActions.SelectedIndex;
Models.Action action = _wpg.ActionAt(action_id);
string name = action.name;
int[,] actions = action.actions;
_wp.actions = actions;
_wp.selected = false;
// Go to next wp
_wp_index++;
if (_wp_index >= _wp_list.Count)
{
_wp_index = _wp_list.Count - 1;
}
_wp = _wp_list.ElementAt(_wp_index);
txtWPIndex.Text = Convert.ToString(_wp_index);
txtwplat.Text = Convert.ToString(_wp.lat);
txtwplon.Text = Convert.ToString(_wp.lon);
txtwpalt.Text = Convert.ToString(_wp.alt);
txtwphead.Text = Convert.ToString(_wp.head);
txtwpcurvesize.Text = Convert.ToString(_wp.curvesize);
txtwprotdirection.Text = Convert.ToString(_wp.rotationdir);
txtwpgimblemode.Text = Convert.ToString(_wp.gimblemode);
txtgimblepitch.Text = Convert.ToString(_wp.gimblepitch);
trkHeading.Value = Convert.ToInt16(_wp.head);
trkCurveSize.Value = Convert.ToInt16(_wp.curvesize);
_wp.selected = true;
_gmap.ReDrawgMap();
}
private void cmbActionsList_SelectedIndexChanged(object sender, EventArgs e)
{
int index = cmbActionsList.SelectedIndex;
Models.Action action = _wpg.ActionAt(index);
string name = action.name;
int[,] actions = action.actions;
txtNewActionName.Text = name;
txtActionID.Text = Convert.ToString(action.internal_id);
cmbAction1.SelectedIndex = actions[0, 0] + 1;
txtActionParam1.Text = Convert.ToString(actions[0, 1]);
cmbAction2.SelectedIndex = actions[1, 0] + 1;
txtActionParam2.Text = Convert.ToString(actions[1, 1]);
cmbAction3.SelectedIndex = actions[2, 0] + 1;
txtActionParam3.Text = Convert.ToString(actions[2, 1]);
cmbAction4.SelectedIndex = actions[3, 0] + 1;
txtActionParam4.Text = Convert.ToString(actions[3, 1]);
cmbAction5.SelectedIndex = actions[4, 0] + 1;
txtActionParam5.Text = Convert.ToString(actions[4, 1]);
cmbAction6.SelectedIndex = actions[5, 0] + 1;
txtActionParam6.Text = Convert.ToString(actions[5, 1]);
cmbAction7.SelectedIndex = actions[6, 0] + 1;
txtActionParam7.Text = Convert.ToString(actions[6, 1]);
cmbAction8.SelectedIndex = actions[7, 0] + 1;
txtActionParam8.Text = Convert.ToString(actions[7, 1]);
cmbAction9.SelectedIndex = actions[8, 0] + 1;
txtActionParam9.Text = Convert.ToString(actions[8, 1]);
cmbAction10.SelectedIndex = actions[9, 0] + 1;
txtActionParam10.Text = Convert.ToString(actions[9, 1]);
cmbAction11.SelectedIndex = actions[10, 0] + 1;
txtActionParam11.Text = Convert.ToString(actions[10, 1]);
cmbAction12.SelectedIndex = actions[11, 0] + 1;
txtActionParam12.Text = Convert.ToString(actions[11, 1]);
cmbAction13.SelectedIndex = actions[12, 0] + 1;
txtActionParam13.Text = Convert.ToString(actions[12, 1]);
cmbAction14.SelectedIndex = actions[13, 0] + 1;
txtActionParam14.Text = Convert.ToString(actions[13, 1]);
cmbAction15.SelectedIndex = actions[14, 0] + 1;
txtActionParam15.Text = Convert.ToString(actions[14, 1]);
}
private void btnSaveAction_Click(object sender, EventArgs e)
{
int[,] actions = new int[15, 2];
actions[0, 0] = cmbAction1.SelectedIndex - 1;
actions[0, 1] = Convert.ToInt16(txtActionParam1.Text);
actions[1, 0] = cmbAction2.SelectedIndex - 1;
actions[1, 1] = Convert.ToInt16(txtActionParam2.Text);
actions[2, 0] = cmbAction3.SelectedIndex - 1;
actions[2, 1] = Convert.ToInt16(txtActionParam3.Text);
actions[3, 0] = cmbAction4.SelectedIndex - 1;
actions[3, 1] = Convert.ToInt16(txtActionParam4.Text);
actions[4, 0] = cmbAction5.SelectedIndex - 1;
actions[4, 1] = Convert.ToInt16(txtActionParam5.Text);
actions[5, 0] = cmbAction6.SelectedIndex - 1;
actions[5, 1] = Convert.ToInt16(txtActionParam6.Text);
actions[6, 0] = cmbAction7.SelectedIndex - 1;
actions[6, 1] = Convert.ToInt16(txtActionParam7.Text);
actions[7, 0] = cmbAction8.SelectedIndex - 1;
actions[7, 1] = Convert.ToInt16(txtActionParam8.Text);
actions[8, 0] = cmbAction9.SelectedIndex - 1;
actions[8, 1] = Convert.ToInt16(txtActionParam9.Text);
actions[9, 0] = cmbAction10.SelectedIndex - 1;
actions[9, 1] = Convert.ToInt16(txtActionParam10.Text);
actions[10, 0] = cmbAction11.SelectedIndex - 1;
actions[10, 1] = Convert.ToInt16(txtActionParam11.Text);
actions[11, 0] = cmbAction12.SelectedIndex - 1;
actions[11, 1] = Convert.ToInt16(txtActionParam12.Text);
actions[12, 0] = cmbAction13.SelectedIndex - 1;
actions[12, 1] = Convert.ToInt16(txtActionParam13.Text);
actions[13, 0] = cmbAction14.SelectedIndex - 1;
actions[13, 1] = Convert.ToInt16(txtActionParam14.Text);
actions[14, 0] = cmbAction15.SelectedIndex - 1;
actions[14, 1] = Convert.ToInt16(txtActionParam15.Text);
Models.Action action = new Models.Action();
action.name = txtNewActionName.Text;
action.actions = actions;
_wpg.AddAction(action);
Update_Actioncmb();
}
private void btnApplyAction_Click(object sender, EventArgs e)
{
string text;
// Get action to Apply
int index = cmbActionsWaypoints.SelectedIndex;
if (index == -1)
{
MessageBox.Show("No Action Selected ...", "Apply Actions");
return;
}
LinkedList <WayPoints> waypoints = _path.waypoints;
int wpcount = waypoints.Count();
// Get start and End waypoints
int wp_start = Convert.ToInt16(txtWPStart.Text);
int wp_end = Convert.ToInt16(txtWPEnd.Text);
bool err = false;
if (wp_start < 0 | wp_end < 0)
{
err = true;
}
if (wp_start > wpcount - 1 | wp_end > wpcount - 1)
{
err = true;
}
if (wp_start > wp_end & wp_end != 0)
{
err = true;
}
if (err)
{
text = "Error in start and end Way point.\n";
MessageBox.Show(text, "Apply Actions");
return;
}
Models.Action action = _wpg.ActionAt(index);
string name = action.name;
int[,] actions = action.actions;
LinkedListNode <WayPoints> node = waypoints.First;
LinkedListNode <WayPoints> nextnode;
int count = 0;
while (node != null)
{
nextnode = node.Next;
if (count >= wp_start & count <= wp_end)
{
WayPoints wppoint = new WayPoints();
wppoint.lat = node.Value.lat;
wppoint.lon = node.Value.lon;
wppoint.alt = node.Value.alt;
wppoint.head = node.Value.head;
wppoint.curvesize = node.Value.curvesize;
wppoint.rotationdir = node.Value.rotationdir;
wppoint.gimblemode = node.Value.gimblemode;
wppoint.gimblepitch = node.Value.gimblepitch;
wppoint.actions = actions;
waypoints.AddBefore(node, wppoint);
waypoints.Remove(node);
}
count++;
node = nextnode;
}
// Clear for next round
txtWPStart.Text = "0";
txtWPEnd.Text = "0";
cmbActionsWaypoints.SelectedIndex = 0;
// Redo dgv
//Globals.ActionWaypoint_Handler = false;
dgvActionsWaypoints.Rows.Clear();
//Globals.ActionWaypoint_Handler = true;
int wp_count = waypoints.Count;
count = 0;
int path_wcount = waypoints.Count();
while (count < path_wcount)
{
double lat = waypoints.ElementAt(count).lat;
double lon = waypoints.ElementAt(count).lon;
double alt = waypoints.ElementAt(count).alt;
double head = waypoints.ElementAt(count).head;
int gimblemode = waypoints.ElementAt(count).gimblemode;
double gimblepitch = waypoints.ElementAt(count).gimblepitch;
double curvesize = waypoints.ElementAt(count).curvesize;
double rotdir = waypoints.ElementAt(count).rotationdir;
int[,] wpactions = waypoints.ElementAt(count).actions;
if (head < 0.0)
{
head = head + 360.0;
}
dgvActionsWaypoints.Rows.Add(count, Convert.ToString(lat), Convert.ToString(lon), Convert.ToString(alt), Convert.ToString(head),
Convert.ToString(curvesize), Convert.ToString(rotdir), Convert.ToString(gimblemode), Convert.ToString(gimblepitch)
, Convert.ToString(wpactions[0, 0]), Convert.ToString(wpactions[0, 1])
, Convert.ToString(wpactions[1, 0]), Convert.ToString(wpactions[1, 1])
, Convert.ToString(wpactions[2, 0]), Convert.ToString(wpactions[2, 1])
, Convert.ToString(wpactions[3, 0]), Convert.ToString(wpactions[3, 1])
);
count++;
}
}
