/// <summary>
/// The Copy Constructor.
/// </summary>
/// <param name="rhs">The Axis object from which to copy</param>
public Axis( Axis rhs )
{
_scale = rhs._scale.Clone( this );
_cross = rhs._cross;
_crossAuto = rhs._crossAuto;
_majorTic = rhs.MajorTic.Clone();
_minorTic = rhs.MinorTic.Clone();
_majorGrid = rhs._majorGrid.Clone();
_minorGrid = rhs._minorGrid.Clone();
_isVisible = rhs.IsVisible;
_isAxisSegmentVisible = rhs._isAxisSegmentVisible;
_title = (AxisLabel) rhs.Title.Clone();
_axisGap = rhs._axisGap;
_minSpace = rhs.MinSpace;
_color = rhs.Color;
}
/// <summary>
/// The Copy Constructor
/// </summary>
/// <param name="rhs">The <see cref="TextScale" /> object from which to copy</param>
/// <param name="owner">The <see cref="Axis" /> object that will own the
/// new instance of <see cref="TextScale" /></param>
public TextScale(Scale rhs, Axis owner)
: base(rhs, owner)
{
}
/// <summary>
/// Default constructor for <see cref="Axis"/> that sets all axis properties
/// to default values as defined in the <see cref="Default"/> class.
/// </summary>
public Axis()
{
_scale = new LinearScale( this );
_cross = 0.0;
_crossAuto = true;
_majorTic = new MajorTic();
_minorTic = new MinorTic();
_majorGrid = new MajorGrid();
_minorGrid = new MinorGrid();
_axisGap = Default.AxisGap;
_minSpace = Default.MinSpace;
_isVisible = true;
_isAxisSegmentVisible = Default.IsAxisSegmentVisible;
_title = new AxisLabel( "", Default.TitleFontFamily, Default.TitleFontSize,
Default.TitleFontColor, Default.TitleFontBold,
Default.TitleFontUnderline, Default.TitleFontItalic );
_title.FontSpec.Fill = new Fill( Default.TitleFillColor, Default.TitleFillBrush,
Default.TitleFillType );
_title.FontSpec.Border.IsVisible = false;
_color = Default.Color;
}
/// <summary>
/// Copy Constructor. Create a new <see cref="Scale" /> object based on the specified
/// existing one.
/// </summary>
/// <param name="rhs">The <see cref="Scale" /> object to be copied.</param>
/// <param name="owner">The <see cref="Axis" /> object that will own the
/// new instance of <see cref="Scale" /></param>
public Scale( Scale rhs, Axis owner )
{
_ownerAxis = owner;
_min = rhs._min;
_max = rhs._max;
_majorStep = rhs._majorStep;
_minorStep = rhs._minorStep;
_exponent = rhs._exponent;
_baseTic = rhs._baseTic;
_minAuto = rhs._minAuto;
_maxAuto = rhs._maxAuto;
_majorStepAuto = rhs._majorStepAuto;
_minorStepAuto = rhs._minorStepAuto;
_magAuto = rhs._magAuto;
_formatAuto = rhs._formatAuto;
_minGrace = rhs._minGrace;
_maxGrace = rhs._maxGrace;
_mag = rhs._mag;
_isUseTenPower = rhs._isUseTenPower;
_isReverse = rhs._isReverse;
_isPreventLabelOverlap = rhs._isPreventLabelOverlap;
_isVisible = rhs._isVisible;
_isSkipFirstLabel = rhs._isSkipFirstLabel;
_isSkipLastLabel = rhs._isSkipLastLabel;
_isSkipCrossLabel = rhs._isSkipCrossLabel;
_majorUnit = rhs._majorUnit;
_minorUnit = rhs._minorUnit;
_format = rhs._format;
_isLabelsInside = rhs._isLabelsInside;
_align = rhs._align;
_alignH = rhs._alignH;
_fontSpec = (FontSpec) rhs._fontSpec.Clone();
_labelGap = rhs._labelGap;
if ( rhs._textLabels != null )
_textLabels = (string[])rhs._textLabels.Clone();
else
_textLabels = null;
}
private void mainGUI_Load(object sender, EventArgs e)
{
//First step, check it gui_settings file is exists or not, if not then start settings wizard
if (!File.Exists(sGuiSettingsFilename))
{
setup_wizard panelSetupWizard = new setup_wizard();
panelSetupWizard.ShowDialog();
}
//Now there must be a valid settings file, so we can continue with normal execution
splash_screen splash = new splash_screen();
splash.sVersionLabel = sVersion;
splash.Show();
splash.Refresh();
//Start with Settings file read, and parse exit if unsuccessfull
gui_settings = new GUI_settings();
if (!gui_settings.read_from_xml(sGuiSettingsFilename))
{
Environment.Exit(-1);
}
sOptionsConfigFilename = sOptionsConfigFilename + gui_settings.iSoftwareVersion + ".xml";
read_options_config(); //read and parse optionsconfig.xml file. sets iCheckBoxItems
mw_gui = new mw_data_gui(iPidItems, iCheckBoxItems, gui_settings.iSoftwareVersion,gui_settings.bSupressI2CErrorData);
mw_params = new mw_settings(iPidItems, iCheckBoxItems, gui_settings.iSoftwareVersion);
//Define FC version dependant thingys :D
if (gui_settings.iSoftwareVersion == 20)
{
PID_ROLL = 0; PID_PITCH = 1; PID_YAW = 2; PID_ALT = 3; PID_VEL = 4; PID_GPS = 5; PID_LEVEL = 6; PID_MAG = 7;
iPacketSizeM = iPacketSizeM20;
sRelName = sRelName20;
splash.sFcVersionLabel = "MultiWii version " + sRelName20;
if (gui_settings.bSupressI2CErrorData)
{
l_i2cdatasupress.Text = "dev20120203 combatibity mode enabled";
iPacketSizeM = 153; //This is hardcoded and eventually will be removed once MultiWii 2.0 is released
splash.sFcVersionLabel += Environment.NewLine + "20120203 compatibility mode";
}
splash.Refresh();
}
if (gui_settings.iSoftwareVersion == 19)
{
PID_ROLL = 0; PID_PITCH = 1; PID_YAW = 2; PID_ALT = 3; PID_VEL = 4; PID_LEVEL = 5; PID_MAG = 6;
iPacketSizeM = iPacketSizeM19;
sRelName = sRelName19;
nPID_level_d.Visible = false;
groupBoxGPS.Visible = false;
splash.sFcVersionLabel = "MultiWii version " + sRelName19;
splash.Refresh();
}
bSerialBuffer = new byte[iPacketSizeM];
ToolTip toolTip1 = new ToolTip();
toolTip1.AutoPopDelay = 5000;
toolTip1.InitialDelay = 1000;
toolTip1.ReshowDelay = 500;
toolTip1.ShowAlways = true;
rcOptions1 = new byte[iCheckBoxItems];
rcOptions2 = new byte[iCheckBoxItems];
//Fill out settings tab
l_Capture_folder.Text = gui_settings.sCaptureFolder;
l_LogFolder.Text = gui_settings.sLogFolder;
l_Settings_folder.Text = gui_settings.sSettingsFolder;
cb_Logging_enabled.Checked = gui_settings.bEnableLogging;
switch (gui_settings.iSoftwareVersion)
{
case 19:
rb_sw19.Checked = true;
break;
case 20:
rb_sw20.Checked = true;
break;
default:
rb_sw20.Checked = true;
break;
}
//Set log enties checkboxes
cb_Log1.Checked = gui_settings.logGraw;
cb_Log2.Checked = gui_settings.logGatt;
cb_Log3.Checked = gui_settings.logGmag;
cb_Log4.Checked = gui_settings.logGrcc;
cb_Log5.Checked = gui_settings.logGrcx;
cb_Log6.Checked = gui_settings.logGmot;
cb_Log7.Checked = gui_settings.logGsrv;
cb_Log8.Checked = gui_settings.logGnav;
cb_Log9.Checked = gui_settings.logGpar;
cb_Log10.Checked = gui_settings.logGdbg;
//Build the RC control checkboxes structure
aux = new CheckBoxEx[4, 4, iCheckBoxItems];
int startx = 200;
int starty = 60;
int a, b, c;
for (c = 0; c < 4; c++)
{
for (a = 0; a < 3; a++)
{
for (b = 0; b < iCheckBoxItems; b++)
{
aux[c, a, b] = new CheckBoxEx();
aux[c, a, b].Location = new Point(startx + a * 18 + c * 70, starty + b * 25);
aux[c, a, b].Visible = true;
aux[c, a, b].Text = "";
aux[c, a, b].AutoSize = true;
aux[c, a, b].Size = new Size(16, 16);
aux[c, a, b].UseVisualStyleBackColor = true;
aux[c, a, b].CheckedChanged += new System.EventHandler(this.aux_checked_changed_event);
//Set info on the given checkbox position
aux[c, a, b].aux = c; //Which aux channel
aux[c, a, b].rclevel = a; //which rc level
aux[c, a, b].item = b; //Which item
this.tabPageRC.Controls.Add(aux[c, a, b]);
}
}
}
aux_labels = new System.Windows.Forms.Label[4];
lmh_labels = new System.Windows.Forms.Label[4, 3]; // aux1-4, L,M,H
string strlmh = "LMH";
for (a = 0; a < 4; a++)
{
aux_labels[a] = new System.Windows.Forms.Label();
aux_labels[a].Text = "AUX" + String.Format("{0:0}", a + 1);
aux_labels[a].Location = new Point(startx + a * 70 + 8, starty - 35);
aux_labels[a].AutoSize = true;
aux_labels[a].ForeColor = Color.White;
this.tabPageRC.Controls.Add(aux_labels[a]);
for (b = 0; b < 3; b++)
{
lmh_labels[a, b] = new System.Windows.Forms.Label();
lmh_labels[a, b].Text = strlmh.Substring(b, 1); ;
lmh_labels[a, b].Location = new Point(startx + a * 70 + b * 18, starty - 20);
lmh_labels[a, b].AutoSize = true;
lmh_labels[a, b].ForeColor = Color.White;
this.tabPageRC.Controls.Add(lmh_labels[a, b]);
}
}
cb_labels = new System.Windows.Forms.Label[20];
for (z = 0; z < iCheckBoxItems; z++)
{
cb_labels[z] = new System.Windows.Forms.Label();
cb_labels[z].Text = option_names[z];
cb_labels[z].Location = new Point(10, starty + z * 25);
cb_labels[z].Visible = true;
cb_labels[z].AutoSize = true;
cb_labels[z].ForeColor = Color.White;
cb_labels[z].TextAlign = ContentAlignment.MiddleRight;
toolTip1.SetToolTip(cb_labels[z], option_desc[z]);
this.tabPageRC.Controls.Add(cb_labels[z]);
}
if (gui_settings.iSoftwareVersion == 19)
{
//Hide AUX3-AUX4 settings
aux_labels[2].Visible = false;
aux_labels[3].Visible = false;
lmh_labels[2, 0].Visible = false;
lmh_labels[2, 1].Visible = false;
lmh_labels[2, 2].Visible = false;
lmh_labels[3, 0].Visible = false;
lmh_labels[3, 1].Visible = false;
lmh_labels[3, 2].Visible = false;
for (int i = 0; i < iCheckBoxItems; i++)
{
aux[2, 0, i].Visible = false;
aux[2, 1, i].Visible = false;
aux[2, 2, i].Visible = false;
aux[3, 0, i].Visible = false;
aux[3, 1, i].Visible = false;
aux[3, 2, i].Visible = false;
}
}
this.Refresh();
serial_ports_enumerate();
foreach (string speed in sSerialSpeeds)
{
cb_serial_speed.Items.Add(speed);
}
cb_serial_speed.SelectedItem = gui_settings.sPreferedSerialSpeed;
if (cb_serial_port.Items.Count == 0)
{
b_connect.Enabled = false; //Nos serial port, disable connect
}
//Init serial port object
serialPort = new SerialPort();
//Set up serial port parameters (at least the ones what we know upfront
serialPort.DataBits = 8;
serialPort.Parity = Parity.None;
serialPort.StopBits = StopBits.One;
serialPort.Handshake = Handshake.None;
serialPort.DtrEnable = false; //??
serialPort.ReadBufferSize = 4096; //4K byte of read buffer
serialPort.ReadTimeout = 500; // 500msec timeout;
//Init Realtime Monitor panel controls
foreach (string rate in sRefreshSpeeds)
{
cb_monitor_rate.Items.Add(rate);
}
cb_monitor_rate.SelectedIndex = 0; //20Hz is the default
//Setup timers
timer_realtime.Tick += new EventHandler(timer_realtime_Tick);
timer_realtime.Interval = iRefreshIntervals[cb_monitor_rate.SelectedIndex];
timer_realtime.Enabled = true;
timer_realtime.Stop();
timer_rc.Tick += new EventHandler(timer_rc_Tick);
timer_rc.Interval = 100; //(10Hz)
timer_rc.Enabled = true;
timer_rc.Stop();
//Set up zgMonitor control for real time monitoring
GraphPane myPane = zgMonitor.GraphPane;
// Set the titles and axis labels
myPane.Title.Text = "";
myPane.XAxis.Title.Text = "";
myPane.YAxis.Title.Text = "";
//Set up pointlists and curves
list_acc_roll = new RollingPointPairList(300);
curve_acc_roll = myPane.AddCurve("acc_roll", list_acc_roll, Color.Red, SymbolType.None);
list_acc_pitch = new RollingPointPairList(300);
curve_acc_pitch = myPane.AddCurve("acc_pitch", list_acc_pitch, Color.Green, SymbolType.None);
list_acc_z = new RollingPointPairList(300);
curve_acc_z = myPane.AddCurve("acc_z", list_acc_z, Color.Blue, SymbolType.None);
list_gyro_roll = new RollingPointPairList(300);
curve_gyro_roll = myPane.AddCurve("gyro_roll", list_gyro_roll, Color.Khaki, SymbolType.None);
list_gyro_pitch = new RollingPointPairList(300);
curve_gyro_pitch = myPane.AddCurve("gyro_pitch", list_gyro_pitch, Color.Cyan, SymbolType.None);
list_gyro_yaw = new RollingPointPairList(300);
curve_gyro_yaw = myPane.AddCurve("gyro_yaw", list_gyro_yaw, Color.Magenta, SymbolType.None);
list_mag_roll = new RollingPointPairList(300);
curve_mag_roll = myPane.AddCurve("mag_roll", list_mag_roll, Color.CadetBlue, SymbolType.None);
list_mag_pitch = new RollingPointPairList(300);
curve_mag_pitch = myPane.AddCurve("mag_pitch", list_mag_pitch, Color.MediumPurple, SymbolType.None);
list_mag_yaw = new RollingPointPairList(300);
curve_mag_yaw = myPane.AddCurve("mag_yaw", list_mag_yaw, Color.DarkGoldenrod, SymbolType.None);
list_alt = new RollingPointPairList(300);
curve_alt = myPane.AddCurve("alt", list_alt, Color.White, SymbolType.None);
list_head = new RollingPointPairList(300);
curve_head = myPane.AddCurve("head", list_head, Color.Orange, SymbolType.None);
list_dbg1 = new RollingPointPairList(300);
curve_dbg1 = myPane.AddCurve("dbg1", list_dbg1, Color.PaleTurquoise, SymbolType.None);
list_dbg2 = new RollingPointPairList(300);
curve_dbg2 = myPane.AddCurve("dbg2", list_dbg2, Color.PaleTurquoise, SymbolType.None);
list_dbg3 = new RollingPointPairList(300);
curve_dbg3 = myPane.AddCurve("dbg3", list_dbg3, Color.PaleTurquoise, SymbolType.None);
list_dbg4 = new RollingPointPairList(300);
curve_dbg4 = myPane.AddCurve("dbg4", list_dbg4, Color.PaleTurquoise, SymbolType.None);
// Show the x axis grid
myPane.XAxis.MajorGrid.IsVisible = true;
myPane.YAxis.MajorGrid.IsVisible = true;
myPane.XAxis.Scale.IsVisible = false;
// Make the Y axis scale red
myPane.YAxis.Scale.FontSpec.FontColor = Color.White;
myPane.YAxis.Title.FontSpec.FontColor = Color.White;
// turn off the opposite tics so the Y tics don't show up on the Y2 axis
myPane.YAxis.MajorTic.IsOpposite = false;
myPane.YAxis.MinorTic.IsOpposite = false;
// Don't display the Y zero line
myPane.YAxis.MajorGrid.IsZeroLine = true;
// Align the Y axis labels so they are flush to the axis
myPane.YAxis.Scale.Align = AlignP.Inside;
myPane.YAxis.Scale.IsVisible = false;
// Manually set the axis range
myPane.YAxis.Scale.Min = -150;
myPane.YAxis.Scale.Max = 150;
myPane.Chart.Fill = new Fill(Color.DimGray, Color.DarkGray, 45.0f);
myPane.Fill = new Fill(Color.DimGray, Color.DimGray, 45.0f);
myPane.Legend.IsVisible = false;
myPane.XAxis.Scale.IsVisible = false;
myPane.YAxis.Scale.IsVisible = true;
myPane.XAxis.Scale.MagAuto = true;
myPane.YAxis.Scale.MagAuto = false;
zgMonitor.IsEnableHPan = true;
zgMonitor.IsEnableHZoom = true;
foreach (ZedGraph.LineItem li in myPane.CurveList)
{
li.Line.Width = 1;
}
myPane.YAxis.Title.FontSpec.FontColor = Color.White;
myPane.XAxis.Title.FontSpec.FontColor = Color.White;
myPane.XAxis.Scale.Min = 0;
myPane.XAxis.Scale.Max = 300;
myPane.XAxis.Type = AxisType.Linear;
zgMonitor.ScrollGrace = 0;
xScale = zgMonitor.GraphPane.XAxis.Scale;
zgMonitor.AxisChange();
pictureBox2.BorderStyle = BorderStyle.None;
//Init video capture dev
try
{
// enumerate video devices
videoDevices = new FilterInfoCollection(FilterCategory.VideoInputDevice);
if (videoDevices.Count == 0)
throw new ApplicationException();
// add all devices to combo
foreach (FilterInfo device in videoDevices)
{
dropdown_devices.Items.Add(device.Name);
}
}
catch (ApplicationException)
{
dropdown_devices.Items.Add("No local capture devices");
dropdown_devices.Enabled = false;
b_video_connect.Enabled = false;
}
dropdown_devices.SelectedIndex = 0;
cb_codec.SelectedIndex = 0;
//Drawing stuff for OSD
drawPen = new Pen(Color.White, 1);
drawFont = new System.Drawing.Font(FontFamily.GenericMonospace, 16.0F);
drawBrush = new System.Drawing.SolidBrush(System.Drawing.Color.White);
System.Threading.Thread.Sleep(2000);
splash.Close();
} //End of mainGUI_load
/// <summary>
/// The Copy Constructor
/// </summary>
/// <param name="rhs">The <see cref="OrdinalScale" /> object from which to copy</param>
/// <param name="owner">The <see cref="Axis" /> object that will own the
/// new instance of <see cref="OrdinalScale" /></param>
public OrdinalScale( Scale rhs, Axis owner )
: base(rhs, owner)
{
}
private void mainGUI_Load(object sender, EventArgs e)
{
//First step, check it gui_settings file is exists or not, if not then start settings wizard
if (!File.Exists(sGuiSettingsFilename))
{
setup_wizard panelSetupWizard = new setup_wizard();
panelSetupWizard.ShowDialog();
}
//Now there must be a valid settings file, so we can continue with normal execution
splash_screen splash = new splash_screen();
splash.sVersionLabel = sVersion;
splash.Show();
splash.Refresh();
//Start with Settings file read, and parse exit if unsuccessfull
gui_settings = new GUI_settings();
if (!gui_settings.read_from_xml(sGuiSettingsFilename))
{
Environment.Exit(-1);
}
sOptionsConfigFilename = sOptionsConfigFilename + gui_settings.iSoftwareVersion + ".xml";
read_options_config(); //read and parse optionsconfig.xml file. sets iCheckBoxItems
mw_gui = new mw_data_gui(iPidItems, iCheckBoxItems, gui_settings.iSoftwareVersion);
mw_params = new mw_settings(iPidItems, iCheckBoxItems, gui_settings.iSoftwareVersion);
splash.sFcVersionLabel = "MultiWii version " + sRelName;
splash.sStatus = "Connecting to MAP server...";
splash.Refresh();
//Quick hack to get pid names to mw_params untill redo the structures
for (int i = 0; i < iPidItems; i++)
{
mw_params.pidnames[i] = Pid[i].name;
}
cbMapProviders.SelectedIndex = gui_settings.iMapProviderSelectedIndex;
MainMap.MapProvider = mapProviders[gui_settings.iMapProviderSelectedIndex];
tb_mapzoom.Value = MainMap.MaxZoom;
MainMap.Zoom = MainMap.MaxZoom;
splash.sStatus = "Building up GUI elements...";
splash.Refresh();
bSerialBuffer = new byte[65];
inBuf = new byte[300]; //init input buffer
ToolTip toolTip1 = new ToolTip();
toolTip1.AutoPopDelay = 5000;
toolTip1.InitialDelay = 1000;
toolTip1.ReshowDelay = 500;
toolTip1.ShowAlways = true;
//rcOptions1 = new byte[iCheckBoxItems];
//rcOptions2 = new byte[iCheckBoxItems];
//Fill out settings tab
l_Capture_folder.Text = gui_settings.sCaptureFolder;
l_LogFolder.Text = gui_settings.sLogFolder;
l_Settings_folder.Text = gui_settings.sSettingsFolder;
cb_Logging_enabled.Checked = gui_settings.bEnableLogging;
//Set log enties checkboxes
cb_Log1.Checked = gui_settings.logGraw;
cb_Log2.Checked = gui_settings.logGatt;
cb_Log3.Checked = gui_settings.logGmag;
cb_Log4.Checked = gui_settings.logGrcc;
cb_Log5.Checked = gui_settings.logGrcx;
cb_Log6.Checked = gui_settings.logGmot;
cb_Log7.Checked = gui_settings.logGsrv;
cb_Log8.Checked = gui_settings.logGnav;
cb_Log9.Checked = gui_settings.logGpar;
cb_Log10.Checked = gui_settings.logGdbg;
//Build PID control structure based on the Pid structure.
const int iLineSpace = 36;
const int iRow1 = 30;
const int iRow2 = 125;
const int iRow3 = 220;
const int iTopY = 25;
Font fontField = new Font("Tahoma", 9, FontStyle.Bold);
Size fieldSize = new Size(70, 25);
for (int i = 0; i < iPidItems; i++)
{
Pid[i].pidLabel = new System.Windows.Forms.Label();
Pid[i].pidLabel.Text = Pid[i].name;
Pid[i].pidLabel.Location = new Point(iRow1, 10 + i * iLineSpace);
Pid[i].pidLabel.Visible = true;
Pid[i].pidLabel.AutoSize = true;
Pid[i].pidLabel.ForeColor = Color.White;
Pid[i].pidLabel.TextAlign = ContentAlignment.MiddleRight;
toolTip1.SetToolTip(Pid[i].pidLabel, Pid[i].description);
this.tabPagePID.Controls.Add(Pid[i].pidLabel);
if (Pid[i].Pshown)
{
Pid[i].Pfield = new System.Windows.Forms.NumericUpDown();
Pid[i].Pfield.ValueChanged += new EventHandler(pfield_valuechange);
Pid[i].Pfield.Location = new Point(iRow1, iTopY + i * iLineSpace);
Pid[i].Pfield.Size = fieldSize;
Pid[i].Pfield.Font = fontField;
Pid[i].Pfield.BorderStyle = BorderStyle.None;
Pid[i].Pfield.Maximum = Pid[i].Pmax;
Pid[i].Pfield.Minimum = Pid[i].Pmin;
Pid[i].Pfield.DecimalPlaces = decimals(Pid[i].Pprec);
Pid[i].Pfield.Increment = 1 / (decimal)Pid[i].Pprec;
this.tabPagePID.Controls.Add(Pid[i].Pfield);
Pid[i].Plabel = new System.Windows.Forms.Label();
Pid[i].Plabel.Text = "P";
Pid[i].Plabel.Font = fontField;
Pid[i].Plabel.ForeColor = Color.White;
Pid[i].Plabel.Location = new Point(iRow1 - 20, iTopY + i * iLineSpace);
this.tabPagePID.Controls.Add(Pid[i].Plabel);
}
if (Pid[i].Ishown)
{
Pid[i].Ifield = new System.Windows.Forms.NumericUpDown();
Pid[i].Ifield.ValueChanged += new EventHandler(ifield_valuechange);
Pid[i].Ifield.Location = new Point(iRow2, iTopY + i * iLineSpace);
Pid[i].Ifield.Size = fieldSize;
Pid[i].Ifield.Font = fontField;
Pid[i].Ifield.BorderStyle = BorderStyle.None;
Pid[i].Ifield.Maximum = Pid[i].Imax;
Pid[i].Ifield.Minimum = Pid[i].Imin;
Pid[i].Ifield.DecimalPlaces = decimals(Pid[i].Iprec);
Pid[i].Ifield.Increment = 1 / (decimal)Pid[i].Iprec;
this.tabPagePID.Controls.Add(Pid[i].Ifield);
Pid[i].Ilabel = new System.Windows.Forms.Label();
Pid[i].Ilabel.Text = "I";
Pid[i].Ilabel.Font = fontField;
Pid[i].Ilabel.ForeColor = Color.White;
Pid[i].Ilabel.Location = new Point(iRow2 - 20, iTopY + i * iLineSpace);
this.tabPagePID.Controls.Add(Pid[i].Ilabel);
}
if (Pid[i].Dshown)
{
Pid[i].Dfield = new System.Windows.Forms.NumericUpDown();
Pid[i].Dfield.ValueChanged += new EventHandler(dfield_valuechange);
Pid[i].Dfield.Location = new Point(iRow3, iTopY + i * iLineSpace);
Pid[i].Dfield.Size = fieldSize;
Pid[i].Dfield.Font = fontField;
Pid[i].Dfield.BorderStyle = BorderStyle.None;
Pid[i].Dfield.Maximum = Pid[i].Dmax;
Pid[i].Dfield.Minimum = Pid[i].Dmin;
Pid[i].Dfield.DecimalPlaces = decimals(Pid[i].Dprec);
Pid[i].Dfield.Increment = 1 / (decimal)Pid[i].Dprec;
this.tabPagePID.Controls.Add(Pid[i].Dfield);
Pid[i].Dlabel = new System.Windows.Forms.Label();
Pid[i].Dlabel.Text = "D";
Pid[i].Dlabel.Font = fontField;
Pid[i].Dlabel.ForeColor = Color.White;
Pid[i].Dlabel.Location = new Point(iRow3 - 20, iTopY + i * iLineSpace);
this.tabPagePID.Controls.Add(Pid[i].Dlabel);
}
}
toolTip1.SetToolTip(b_check_all_ACC, "Select all ACC values");
toolTip1.SetToolTip(b_uncheck_all_ACC, "Deselect all ACC values");
this.Refresh();
serial_ports_enumerate();
foreach (string speed in sSerialSpeeds)
{
cb_serial_speed.Items.Add(speed);
}
cb_serial_speed.SelectedItem = gui_settings.sPreferedSerialSpeed;
if (cb_serial_port.Items.Count == 0)
{
b_connect.Enabled = false; //Nos serial port, disable connect
}
//Init serial port object
serialPort = new SerialPort();
//Set up serial port parameters (at least the ones what we know upfront
serialPort.DataBits = 8;
serialPort.Parity = Parity.None;
serialPort.StopBits = StopBits.One;
serialPort.Handshake = Handshake.None;
serialPort.DtrEnable = false; //??
serialPort.ReadBufferSize = 4096; //4K byte of read buffer
serialPort.ReadTimeout = 500; // 500msec timeout;
//Init Realtime Monitor panel controls
foreach (string rate in sRefreshSpeeds)
{
cb_monitor_rate.Items.Add(rate);
}
cb_monitor_rate.SelectedIndex = 0; //20Hz is the default
//Setup timers
timer_realtime.Tick += new EventHandler(timer_realtime_Tick);
timer_realtime.Interval = iRefreshIntervals[cb_monitor_rate.SelectedIndex];
timer_realtime.Enabled = true;
timer_realtime.Stop();
//Set up zgMonitor control for real time monitoring
GraphPane myPane = zgMonitor.GraphPane;
// Set the titles and axis labels
myPane.Title.Text = "";
myPane.XAxis.Title.Text = "";
myPane.YAxis.Title.Text = "";
//Set up pointlists and curves
list_acc_roll = new RollingPointPairList(300);
curve_acc_roll = myPane.AddCurve("acc_roll", list_acc_roll, Color.Red, SymbolType.None);
list_acc_pitch = new RollingPointPairList(300);
curve_acc_pitch = myPane.AddCurve("acc_pitch", list_acc_pitch, Color.Green, SymbolType.None);
list_acc_z = new RollingPointPairList(300);
curve_acc_z = myPane.AddCurve("acc_z", list_acc_z, Color.Blue, SymbolType.None);
list_gyro_roll = new RollingPointPairList(300);
curve_gyro_roll = myPane.AddCurve("gyro_roll", list_gyro_roll, Color.Khaki, SymbolType.None);
list_gyro_pitch = new RollingPointPairList(300);
curve_gyro_pitch = myPane.AddCurve("gyro_pitch", list_gyro_pitch, Color.Cyan, SymbolType.None);
list_gyro_yaw = new RollingPointPairList(300);
curve_gyro_yaw = myPane.AddCurve("gyro_yaw", list_gyro_yaw, Color.Magenta, SymbolType.None);
list_mag_roll = new RollingPointPairList(300);
curve_mag_roll = myPane.AddCurve("mag_roll", list_mag_roll, Color.CadetBlue, SymbolType.None);
list_mag_pitch = new RollingPointPairList(300);
curve_mag_pitch = myPane.AddCurve("mag_pitch", list_mag_pitch, Color.MediumPurple, SymbolType.None);
list_mag_yaw = new RollingPointPairList(300);
curve_mag_yaw = myPane.AddCurve("mag_yaw", list_mag_yaw, Color.DarkGoldenrod, SymbolType.None);
list_alt = new RollingPointPairList(300);
curve_alt = myPane.AddCurve("alt", list_alt, Color.White, SymbolType.None);
list_head = new RollingPointPairList(300);
curve_head = myPane.AddCurve("head", list_head, Color.Orange, SymbolType.None);
list_dbg1 = new RollingPointPairList(300);
curve_dbg1 = myPane.AddCurve("dbg1", list_dbg1, Color.PaleTurquoise, SymbolType.None);
list_dbg2 = new RollingPointPairList(300);
curve_dbg2 = myPane.AddCurve("dbg2", list_dbg2, Color.PaleTurquoise, SymbolType.None);
list_dbg3 = new RollingPointPairList(300);
curve_dbg3 = myPane.AddCurve("dbg3", list_dbg3, Color.PaleTurquoise, SymbolType.None);
list_dbg4 = new RollingPointPairList(300);
curve_dbg4 = myPane.AddCurve("dbg4", list_dbg4, Color.PaleTurquoise, SymbolType.None);
// Show the x axis grid
myPane.XAxis.MajorGrid.IsVisible = true;
myPane.YAxis.MajorGrid.IsVisible = true;
myPane.XAxis.Scale.IsVisible = false;
// Make the Y axis scale red
myPane.YAxis.Scale.FontSpec.FontColor = Color.White;
myPane.YAxis.Title.FontSpec.FontColor = Color.White;
// turn off the opposite tics so the Y tics don't show up on the Y2 axis
myPane.YAxis.MajorTic.IsOpposite = false;
myPane.YAxis.MinorTic.IsOpposite = false;
// Don't display the Y zero line
myPane.YAxis.MajorGrid.IsZeroLine = true;
// Align the Y axis labels so they are flush to the axis
myPane.YAxis.Scale.Align = AlignP.Inside;
myPane.YAxis.Scale.IsVisible = false;
// Manually set the axis range
myPane.YAxis.Scale.Min = -150;
myPane.YAxis.Scale.Max = 150;
myPane.Chart.Fill = new Fill(Color.DimGray, Color.DarkGray, 45.0f);
myPane.Fill = new Fill(Color.DimGray, Color.DimGray, 45.0f);
myPane.Legend.IsVisible = false;
myPane.XAxis.Scale.IsVisible = false;
myPane.YAxis.Scale.IsVisible = true;
myPane.XAxis.Scale.MagAuto = true;
myPane.YAxis.Scale.MagAuto = false;
zgMonitor.IsEnableHPan = true;
zgMonitor.IsEnableHZoom = true;
foreach (ZedGraph.LineItem li in myPane.CurveList)
{
li.Line.Width = 1;
}
myPane.YAxis.Title.FontSpec.FontColor = Color.White;
myPane.XAxis.Title.FontSpec.FontColor = Color.White;
myPane.XAxis.Scale.Min = 0;
myPane.XAxis.Scale.Max = 300;
myPane.XAxis.Type = AxisType.Linear;
zgMonitor.ScrollGrace = 0;
xScale = zgMonitor.GraphPane.XAxis.Scale;
zgMonitor.AxisChange();
//Init video capture dev
try
{
// enumerate video devices
videoDevices = new FilterInfoCollection(FilterCategory.VideoInputDevice);
if (videoDevices.Count == 0)
throw new ApplicationException();
// add all devices to combo
foreach (FilterInfo device in videoDevices)
{
dropdown_devices.Items.Add(device.Name);
}
}
catch (ApplicationException)
{
dropdown_devices.Items.Add("No local capture devices");
dropdown_devices.Enabled = false;
b_video_connect.Enabled = false;
}
dropdown_devices.SelectedIndex = 0;
cb_codec.SelectedIndex = 0;
//Drawing stuff for OSD
drawPen = new Pen(Color.White, 1);
drawFont = new System.Drawing.Font(FontFamily.GenericMonospace, 16.0F);
drawBrush = new System.Drawing.SolidBrush(System.Drawing.Color.White);
//Disable buttons that are not working till connected
b_reset.Enabled = false;
b_cal_acc.Enabled = false;
b_cal_mag.Enabled = false;
b_read_settings.Enabled = false;
b_write_settings.Enabled = false;
//System.Threading.Thread.Sleep(2000);
splash.Close();
}
/// <summary>
/// The Copy Constructor
/// </summary>
/// <param name="rhs">The <see cref="LogScale" /> object from which to copy</param>
/// <param name="owner">The <see cref="Axis" /> object that will own the
/// new instance of <see cref="LogScale" /></param>
public LogScale( Scale rhs, Axis owner )
: base( rhs, owner )
{
}
private void mainGUI_Load(object sender, EventArgs e)
{
//First step, check it gui_settings file is exists or not, if not then start settings wizard
if (!File.Exists(sGuiSettingsFilename))
{
setup_wizard panelSetupWizard = new setup_wizard();
panelSetupWizard.ShowDialog();
}
//Now there must be a valid settings file, so we can continue with normal execution
splash_screen splash = new splash_screen();
splash.sVersionLabel = sVersion;
splash.Show();
splash.Refresh();
//Start with Settings file read, and parse exit if unsuccessfull
gui_settings = new GUI_settings();
if (!gui_settings.read_from_xml(sGuiSettingsFilename))
{
Environment.Exit(-1);
}
//fill out relevant variables
cbGUISpeechEnabled.Checked = gui_settings.speech_enabled;
sOptionsConfigFilename = sOptionsConfigFilename + ".xml";
read_options_config(); //read and parse optionsconfig.xml file. sets iCheckBoxItems
iCheckBoxItems = 24; //Theoretical maximum
splash.sStatus = "Building internal data structures...";
splash.Refresh();
mw_gui = new mw_data_gui(iPidItems, iCheckBoxItems, gui_settings.iSoftwareVersion);
mw_params = new mw_settings(iPidItems, iCheckBoxItems, gui_settings.iSoftwareVersion);
mission_step = new mission_step_structure();
//Quick hack to get pid names to mw_params untill redo the structures
for (int i = 0; i < iPidItems; i++)
{
mw_params.pidnames[i] = Pid[i].name;
}
splash.sFcVersionLabel = "MultiWii version " + sRelName;
splash.sStatus = "Connecting to MAP server...";
splash.Refresh();
MainMap.Manager.Mode = AccessMode.ServerAndCache;
if (!Stuff.PingNetwork("pingtest.com"))
{
MainMap.Manager.Mode = AccessMode.CacheOnly;
MessageBox.Show("No internet connection available, going to CacheOnly mode.", "GMap.NET - Demo.WindowsForms", MessageBoxButtons.OK, MessageBoxIcon.Warning);
}
cbMapProviders.SelectedIndex = gui_settings.iMapProviderSelectedIndex;
MainMap.MapProvider = mapProviders[gui_settings.iMapProviderSelectedIndex];
MainMap.Zoom = 18;
splash.sStatus = "Building up GUI elements...";
splash.Refresh();
bSerialBuffer = new byte[65];
inBuf = new byte[300]; //init input buffer
ToolTip toolTip1 = new ToolTip();
toolTip1.AutoPopDelay = 5000;
toolTip1.InitialDelay = 1000;
toolTip1.ReshowDelay = 500;
toolTip1.ShowAlways = true;
//rcOptions1 = new byte[iCheckBoxItems];
//rcOptions2 = new byte[iCheckBoxItems];
//Fill out settings tab
l_Capture_folder.Text = gui_settings.sCaptureFolder;
l_LogFolder.Text = gui_settings.sLogFolder;
l_Settings_folder.Text = gui_settings.sSettingsFolder;
cb_Logging_enabled.Checked = gui_settings.bEnableLogging;
//Set log enties checkboxes
cb_Log1.Checked = gui_settings.logGraw;
cb_Log2.Checked = gui_settings.logGatt;
cb_Log3.Checked = gui_settings.logGmag;
cb_Log4.Checked = gui_settings.logGrcc;
cb_Log5.Checked = gui_settings.logGrcx;
cb_Log6.Checked = gui_settings.logGmot;
cb_Log7.Checked = gui_settings.logGsrv;
cb_Log8.Checked = gui_settings.logGnav;
cb_Log9.Checked = gui_settings.logGpar;
cb_Log10.Checked = gui_settings.logGdbg;
cbCellcount.SelectedIndex = gui_settings.cellcount - 1;
cbGUISpeechEnabled.Checked = gui_settings.speech_enabled;
cbSpeakAlt.Checked = gui_settings.announce_alt_enabled;
cbSpeakBattery.Checked = gui_settings.announce_vbat_enabled;
cbSpeakDist.Checked = gui_settings.announce_dist_enabled;
comboSpeakInterval.SelectedIndex = gui_settings.announce_interval;
b_save_gui_settings.BackColor = Color.Transparent;
splash.sStatus = "Build PID structures...";
splash.Refresh();
//Build servo control arrays
// It is a mess and not an elegant solution BUT WORKS
servo_text = new System.Windows.Forms.Label[8];
servo_text[0] = lSrvName1;
servo_text[1] = lSrvName2;
servo_text[2] = lSrvName3;
servo_text[3] = lSrvName4;
servo_text[4] = lSrvName5;
servo_text[5] = lSrvName6;
servo_text[6] = lSrvName7;
servo_text[7] = lSrvName8;
servo_reverse = new CheckBoxEx[8];
servo_reverse[0] = cbSrvRev1;
servo_reverse[1] = cbSrvRev2;
servo_reverse[2] = cbSrvRev3;
servo_reverse[3] = cbSrvRev4;
servo_reverse[4] = cbSrvRev5;
servo_reverse[5] = cbSrvRev6;
servo_reverse[6] = cbSrvRev7;
servo_reverse[7] = cbSrvRev8;
servo_rate = new System.Windows.Forms.NumericUpDown[8];
servo_rate[0] = nSrvRate1;
servo_rate[1] = nSrvRate2;
servo_rate[2] = nSrvRate3;
servo_rate[3] = nSrvRate4;
servo_rate[4] = nSrvRate5;
servo_rate[5] = nSrvRate6;
servo_rate[6] = nSrvRate7;
servo_rate[7] = nSrvRate8;
servo_min = new System.Windows.Forms.NumericUpDown[8];
servo_min[0] = nSrvMin1;
servo_min[1] = nSrvMin2;
servo_min[2] = nSrvMin3;
servo_min[3] = nSrvMin4;
servo_min[4] = nSrvMin5;
servo_min[5] = nSrvMin6;
servo_min[6] = nSrvMin7;
servo_min[7] = nSrvMin8;
servo_mid = new System.Windows.Forms.NumericUpDown[8];
servo_mid[0] = nSrvMid1;
servo_mid[1] = nSrvMid2;
servo_mid[2] = nSrvMid3;
servo_mid[3] = nSrvMid4;
servo_mid[4] = nSrvMid5;
servo_mid[5] = nSrvMid6;
servo_mid[6] = nSrvMid7;
servo_mid[7] = nSrvMid8;
servo_max = new System.Windows.Forms.NumericUpDown[8];
servo_max[0] = nSrvMax1;
servo_max[1] = nSrvMax2;
servo_max[2] = nSrvMax3;
servo_max[3] = nSrvMax4;
servo_max[4] = nSrvMax5;
servo_max[5] = nSrvMax6;
servo_max[6] = nSrvMax7;
servo_max[7] = nSrvMax8;
//Build PID control structure based on the Pid structure.
const int iLineSpace = 36;
const int iRow1 = 30;
const int iRow2 = 130;
const int iRow3 = 230;
const int iTopY = 25;
Font fontField = new Font("Tahoma", 9, FontStyle.Bold);
Size fieldSize = new Size(70, 25);
for (int i = 0; i < iPidItems; i++)
{
Pid[i].pidLabel = new System.Windows.Forms.Label();
Pid[i].pidLabel.Text = Pid[i].name;
Pid[i].pidLabel.Location = new Point(iRow1, 10 + i * iLineSpace);
Pid[i].pidLabel.Visible = true;
Pid[i].pidLabel.AutoSize = true;
Pid[i].pidLabel.ForeColor = Color.White;
Pid[i].pidLabel.TextAlign = ContentAlignment.MiddleRight;
toolTip1.SetToolTip(Pid[i].pidLabel, Pid[i].description);
this.tabPagePID.Controls.Add(Pid[i].pidLabel);
if (Pid[i].Pshown)
{
Pid[i].Pfield = new System.Windows.Forms.NumericUpDown();
Pid[i].Pfield.ValueChanged += new EventHandler(pfield_valuechange);
Pid[i].Pfield.Location = new Point(iRow1, iTopY + i * iLineSpace);
Pid[i].Pfield.Size = fieldSize;
Pid[i].Pfield.Font = fontField;
Pid[i].Pfield.BorderStyle = BorderStyle.None;
Pid[i].Pfield.Maximum = Pid[i].Pmax;
Pid[i].Pfield.Minimum = Pid[i].Pmin;
Pid[i].Pfield.DecimalPlaces = decimals(Pid[i].Pprec);
Pid[i].Pfield.Increment = 1 / (decimal)Pid[i].Pprec;
this.tabPagePID.Controls.Add(Pid[i].Pfield);
Pid[i].Plabel = new System.Windows.Forms.Label();
Pid[i].Plabel.Text = "P";
Pid[i].Plabel.Font = fontField;
Pid[i].Plabel.ForeColor = Color.White;
Pid[i].Plabel.Location = new Point(iRow1 - 20, iTopY + i * iLineSpace);
this.tabPagePID.Controls.Add(Pid[i].Plabel);
}
if (Pid[i].Ishown)
{
Pid[i].Ifield = new System.Windows.Forms.NumericUpDown();
Pid[i].Ifield.ValueChanged += new EventHandler(ifield_valuechange);
Pid[i].Ifield.Location = new Point(iRow2, iTopY + i * iLineSpace);
Pid[i].Ifield.Size = fieldSize;
Pid[i].Ifield.Font = fontField;
Pid[i].Ifield.BorderStyle = BorderStyle.None;
Pid[i].Ifield.Maximum = Pid[i].Imax;
Pid[i].Ifield.Minimum = Pid[i].Imin;
Pid[i].Ifield.DecimalPlaces = decimals(Pid[i].Iprec);
Pid[i].Ifield.Increment = 1 / (decimal)Pid[i].Iprec;
this.tabPagePID.Controls.Add(Pid[i].Ifield);
Pid[i].Ilabel = new System.Windows.Forms.Label();
Pid[i].Ilabel.Text = "I";
Pid[i].Ilabel.Font = fontField;
Pid[i].Ilabel.ForeColor = Color.White;
Pid[i].Ilabel.Location = new Point(iRow2 - 20, iTopY + i * iLineSpace);
this.tabPagePID.Controls.Add(Pid[i].Ilabel);
}
if (Pid[i].Dshown)
{
Pid[i].Dfield = new System.Windows.Forms.NumericUpDown();
Pid[i].Dfield.ValueChanged += new EventHandler(dfield_valuechange);
Pid[i].Dfield.Location = new Point(iRow3, iTopY + i * iLineSpace);
Pid[i].Dfield.Size = fieldSize;
Pid[i].Dfield.Font = fontField;
Pid[i].Dfield.BorderStyle = BorderStyle.None;
Pid[i].Dfield.Maximum = Pid[i].Dmax;
Pid[i].Dfield.Minimum = Pid[i].Dmin;
Pid[i].Dfield.DecimalPlaces = decimals(Pid[i].Dprec);
Pid[i].Dfield.Increment = 1 / (decimal)Pid[i].Dprec;
this.tabPagePID.Controls.Add(Pid[i].Dfield);
Pid[i].Dlabel = new System.Windows.Forms.Label();
Pid[i].Dlabel.Text = "D";
Pid[i].Dlabel.Font = fontField;
Pid[i].Dlabel.ForeColor = Color.White;
Pid[i].Dlabel.Location = new Point(iRow3 - 20, iTopY + i * iLineSpace);
this.tabPagePID.Controls.Add(Pid[i].Dlabel);
}
//Set up stuff at the mission palane
txtDefAlt.Text = iDefAlt.ToString(); //Set up default altitude
txtGTCAlt.Text = iGTCAlt.ToString(); //Set up default Go to Click altitude
}
//Tooltips (needs improvement)
toolTip1.SetToolTip(b_check_all_ACC, "Select all ACC values");
toolTip1.SetToolTip(b_uncheck_all_ACC, "Deselect all ACC values");
toolTip1.SetToolTip(lDefAlt, "Default waypoint altitude (in Above Ground Level where Home position Ground level is zero)");
toolTip1.SetToolTip(txtDefAlt, "Default waypoint altitude (in Above Ground Level where Home position Ground level is zero)");
this.Refresh();
splash.sStatus = "Check serial ports...";
splash.Refresh();
serial_ports_enumerate();
foreach (string speed in sSerialSpeeds)
{
cb_serial_speed.Items.Add(speed);
}
cb_serial_speed.SelectedItem = gui_settings.sPreferedSerialSpeed;
if (cb_serial_port.Items.Count == 0)
{
b_connect.Enabled = false; //Nos serial port, disable connect
}
//Init serial port object
serialPort = new SerialPort();
//Set up serial port parameters (at least the ones what we know upfront
serialPort.DataBits = 8;
serialPort.Parity = Parity.None;
serialPort.StopBits = StopBits.One;
serialPort.Handshake = Handshake.None;
serialPort.DtrEnable = false; //??
serialPort.ReadBufferSize = 4096; //4K byte of read buffer
serialPort.ReadTimeout = 500; // 500msec timeout;
//Init Realtime Monitor panel controls
foreach (string rate in sRefreshSpeeds)
{
cb_monitor_rate.Items.Add(rate);
}
cb_monitor_rate.SelectedIndex = 1; //10Hz is the default
splash.sStatus = "Setup Timers...";
splash.Refresh();
//Setup timers
timer_realtime.Tick += new EventHandler(timer_realtime_Tick);
timer_realtime.Interval = iRefreshIntervals[cb_monitor_rate.SelectedIndex];
timer_realtime.Enabled = true;
timer_realtime.Stop();
splash.sStatus = "Setup zgMonitor control...";
splash.Refresh();
//Set up zgMonitor control for real time monitoring
GraphPane myPane = zgMonitor.GraphPane;
// Set the titles and axis labels
myPane.Title.Text = "";
myPane.XAxis.Title.Text = "";
myPane.YAxis.Title.Text = "";
//Set up pointlists and curves
list_acc_roll = new RollingPointPairList(300);
curve_acc_roll = myPane.AddCurve("acc_roll", list_acc_roll, Color.Red, SymbolType.None);
list_acc_pitch = new RollingPointPairList(300);
curve_acc_pitch = myPane.AddCurve("acc_pitch", list_acc_pitch, Color.Green, SymbolType.None);
list_acc_z = new RollingPointPairList(300);
curve_acc_z = myPane.AddCurve("acc_z", list_acc_z, Color.Blue, SymbolType.None);
list_gyro_roll = new RollingPointPairList(300);
curve_gyro_roll = myPane.AddCurve("gyro_roll", list_gyro_roll, Color.Khaki, SymbolType.None);
list_gyro_pitch = new RollingPointPairList(300);
curve_gyro_pitch = myPane.AddCurve("gyro_pitch", list_gyro_pitch, Color.Cyan, SymbolType.None);
list_gyro_yaw = new RollingPointPairList(300);
curve_gyro_yaw = myPane.AddCurve("gyro_yaw", list_gyro_yaw, Color.Magenta, SymbolType.None);
list_mag_roll = new RollingPointPairList(300);
curve_mag_roll = myPane.AddCurve("mag_roll", list_mag_roll, Color.CadetBlue, SymbolType.None);
list_mag_pitch = new RollingPointPairList(300);
curve_mag_pitch = myPane.AddCurve("mag_pitch", list_mag_pitch, Color.MediumPurple, SymbolType.None);
list_mag_yaw = new RollingPointPairList(300);
curve_mag_yaw = myPane.AddCurve("mag_yaw", list_mag_yaw, Color.DarkGoldenrod, SymbolType.None);
list_alt = new RollingPointPairList(300);
curve_alt = myPane.AddCurve("alt", list_alt, Color.White, SymbolType.None);
list_head = new RollingPointPairList(300);
curve_head = myPane.AddCurve("head", list_head, Color.Orange, SymbolType.None);
list_dbg1 = new RollingPointPairList(300);
curve_dbg1 = myPane.AddCurve("dbg1", list_dbg1, Color.PaleTurquoise, SymbolType.None);
list_dbg2 = new RollingPointPairList(300);
curve_dbg2 = myPane.AddCurve("dbg2", list_dbg2, Color.PaleTurquoise, SymbolType.None);
list_dbg3 = new RollingPointPairList(300);
curve_dbg3 = myPane.AddCurve("dbg3", list_dbg3, Color.PaleTurquoise, SymbolType.None);
list_dbg4 = new RollingPointPairList(300);
curve_dbg4 = myPane.AddCurve("dbg4", list_dbg4, Color.PaleTurquoise, SymbolType.None);
// Show the x axis grid
myPane.XAxis.MajorGrid.IsVisible = true;
myPane.YAxis.MajorGrid.IsVisible = true;
myPane.XAxis.MajorGrid.Color = Color.DarkGray;
myPane.YAxis.MajorGrid.Color = Color.DarkGray;
myPane.XAxis.Scale.IsVisible = false;
// Make the Y axis scale red
myPane.YAxis.Scale.FontSpec.FontColor = Color.DarkGray;
myPane.YAxis.Title.FontSpec.FontColor = Color.DarkGray;
// turn off the opposite tics so the Y tics don't show up on the Y2 axis
myPane.YAxis.MajorTic.IsOpposite = false;
myPane.YAxis.MinorTic.IsOpposite = false;
// Don't display the Y zero line
myPane.YAxis.MajorGrid.IsZeroLine = true;
// Align the Y axis labels so they are flush to the axis
myPane.YAxis.Scale.Align = AlignP.Inside;
myPane.YAxis.Color = Color.DarkGray;
myPane.YAxis.Scale.IsVisible = false;
// Manually set the axis range
myPane.YAxis.Scale.Min = -300;
myPane.YAxis.Scale.Max = 300;
myPane.XAxis.Color = Color.DarkGray;
myPane.Border.Color = Color.FromArgb(64, 64, 64);
myPane.Chart.Fill = new Fill(Color.Black, Color.Black, 45.0f);
myPane.Fill = new Fill(Color.FromArgb(64, 64, 64), Color.FromArgb(64, 64, 64), 45.0f);
myPane.Legend.IsVisible = false;
myPane.XAxis.Scale.IsVisible = false;
myPane.YAxis.Scale.IsVisible = true;
myPane.XAxis.Scale.MagAuto = true;
myPane.YAxis.Scale.MagAuto = false;
zgMonitor.IsEnableHPan = true;
zgMonitor.IsEnableHZoom = true;
foreach (ZedGraph.LineItem li in myPane.CurveList)
{
li.Line.Width = 1;
}
myPane.YAxis.Title.FontSpec.FontColor = Color.DarkGray;
myPane.XAxis.Title.FontSpec.FontColor = Color.DarkGray;
myPane.XAxis.Scale.Min = 0;
myPane.XAxis.Scale.Max = 300;
myPane.XAxis.Type = AxisType.Linear;
zgMonitor.ScrollGrace = 0;
xScale = zgMonitor.GraphPane.XAxis.Scale;
zgMonitor.AxisChange();
splash.sStatus = "Init video capture structures...";
splash.Refresh();
//Init video capture dev
try
{
// enumerate video devices
videoDevices = new FilterInfoCollection(FilterCategory.VideoInputDevice);
if (videoDevices.Count == 0)
throw new ApplicationException();
// add all devices to combo
foreach (FilterInfo device in videoDevices)
{
dropdown_devices.Items.Add(device.Name);
}
}
catch (ApplicationException)
{
dropdown_devices.Items.Add("No local capture devices");
dropdown_devices.Enabled = false;
b_video_connect.Enabled = false;
}
dropdown_devices.SelectedIndex = 0;
cb_codec.SelectedIndex = 0;
//Drawing stuff for OSD
drawPen = new Pen(Color.White, 1);
drawFont = new System.Drawing.Font(FontFamily.GenericMonospace, 16.0F);
drawBrush = new System.Drawing.SolidBrush(System.Drawing.Color.White);
//Disable buttons that are not working till connected
b_reset.Enabled = false;
b_cal_acc.Enabled = false;
b_cal_mag.Enabled = false;
b_read_settings.Enabled = false;
b_write_settings.Enabled = false;
b_write_to_file.Enabled = false;
b_load_from_file.Enabled = false;
btnDownLoadMission.Enabled = false;
btnUploadMission.Enabled = false;
//init instrument panels
altitude_meter1.SetAlimeterParameters(0);
vertical_speed_indicator1.SetVerticalSpeedIndicatorParameters(0);
System.Threading.Thread.Sleep(2000);
splash.Close();
MainMap.Invalidate(false);
int w = MainMap.Size.Width;
MainMap.Width = w +1 ;
MainMap.Width = w;
MainMap.ShowCenter = false;
mw_gui.max_wp_number = gui_settings.max_wp_number;
mw_gui.wp_radius = gui_settings.wp_radius;
//Welcome message from Anna
if (gui_settings.speech_enabled)
{
speech = new SpeechSynthesizer();
speech.Rate = -2;
speech.SpeakAsync("Initialisation completed. Have a good flight!");
}
}
/// <summary>
/// Calculate a step size for a <see cref="AxisType.Date"/> scale.
/// This method is used by <see cref="PickScale"/>.
/// </summary>
/// <param name="range">The range of data in units of days</param>
/// <param name="targetSteps">The desired "typical" number of steps
/// to divide the range into</param>
/// <param name="scale">
/// The <see cref="Scale" /> object on which to calculate the Date step size.</param>
/// <returns>The calculated step size for the specified data range. Also
/// calculates and sets the values for <see cref="Scale.MajorUnit"/>,
/// <see cref="Scale.MinorUnit"/>, <see cref="Scale.MinorStep"/>, and
/// <see cref="Scale.Format"/></returns>
internal static double CalcDateStepSize(double range, double targetSteps, Scale scale)
{
// Calculate an initial guess at step size
double tempStep = range/targetSteps;
if (range > Default.RangeYearYear) {
scale._majorUnit = DateUnit.Year;
if (scale._formatAuto)
scale._format = Default.FormatYearYear;
tempStep = Math.Ceiling(tempStep/365.0);
if (scale._minorStepAuto) {
scale._minorUnit = DateUnit.Year;
if (tempStep == 1.0)
scale._minorStep = 0.25;
else
scale._minorStep = Scale.CalcStepSize(tempStep, targetSteps);
}
}
else if (range > Default.RangeYearMonth) {
scale._majorUnit = DateUnit.Year;
if (scale._formatAuto)
scale._format = Default.FormatYearMonth;
tempStep = Math.Ceiling(tempStep/365.0);
if (scale._minorStepAuto) {
scale._minorUnit = DateUnit.Month;
// Calculate the minor steps to give an estimated 4 steps
// per major step.
scale._minorStep = Math.Ceiling(range/(targetSteps*3)/30.0);
// make sure the minorStep is 1, 2, 3, 6, or 12 months
if (scale._minorStep > 6)
scale._minorStep = 12;
else if (scale._minorStep > 3)
scale._minorStep = 6;
}
}
else if (range > Default.RangeMonthMonth) {
scale._majorUnit = DateUnit.Month;
if (scale._formatAuto)
scale._format = Default.FormatMonthMonth;
tempStep = Math.Ceiling(tempStep/30.0);
if (scale._minorStepAuto) {
scale._minorUnit = DateUnit.Month;
scale._minorStep = tempStep*0.25;
}
}
else if (range > Default.RangeDayDay) {
scale._majorUnit = DateUnit.Day;
if (scale._formatAuto)
scale._format = Default.FormatDayDay;
tempStep = Math.Ceiling(tempStep);
if (scale._minorStepAuto) {
scale._minorUnit = DateUnit.Day;
scale._minorStep = tempStep*0.25;
// make sure the minorStep is 1, 2, 3, 6, or 12 hours
}
}
else if (range > Default.RangeDayHour) {
scale._majorUnit = DateUnit.Day;
if (scale._formatAuto)
scale._format = Default.FormatDayHour;
tempStep = Math.Ceiling(tempStep);
if (scale._minorStepAuto) {
scale._minorUnit = DateUnit.Hour;
// Calculate the minor steps to give an estimated 4 steps
// per major step.
scale._minorStep = Math.Ceiling(range/(targetSteps*3)*XDate.HoursPerDay);
// make sure the minorStep is 1, 2, 3, 6, or 12 hours
if (scale._minorStep > 6)
scale._minorStep = 12;
else if (scale._minorStep > 3)
scale._minorStep = 6;
else
scale._minorStep = 1;
}
}
else if (range > Default.RangeHourHour) {
scale._majorUnit = DateUnit.Hour;
tempStep = Math.Ceiling(tempStep*XDate.HoursPerDay);
if (scale._formatAuto)
scale._format = Default.FormatHourHour;
if (tempStep > 12.0)
tempStep = 24.0;
else if (tempStep > 6.0)
tempStep = 12.0;
else if (tempStep > 2.0)
tempStep = 6.0;
else if (tempStep > 1.0)
tempStep = 2.0;
else
tempStep = 1.0;
if (scale._minorStepAuto) {
scale._minorUnit = DateUnit.Hour;
if (tempStep <= 1.0)
scale._minorStep = 0.25;
else if (tempStep <= 6.0)
scale._minorStep = 1.0;
else if (tempStep <= 12.0)
scale._minorStep = 2.0;
else
scale._minorStep = 4.0;
}
}
else if (range > Default.RangeHourMinute) {
scale._majorUnit = DateUnit.Hour;
tempStep = Math.Ceiling(tempStep*XDate.HoursPerDay);
if (scale._formatAuto)
scale._format = Default.FormatHourMinute;
if (scale._minorStepAuto) {
scale._minorUnit = DateUnit.Minute;
// Calculate the minor steps to give an estimated 4 steps
// per major step.
scale._minorStep = Math.Ceiling(range/(targetSteps*3)*XDate.MinutesPerDay);
// make sure the minorStep is 1, 5, 15, or 30 minutes
if (scale._minorStep > 15.0)
scale._minorStep = 30.0;
else if (scale._minorStep > 5.0)
scale._minorStep = 15.0;
else if (scale._minorStep > 1.0)
scale._minorStep = 5.0;
else
scale._minorStep = 1.0;
}
}
else if (range > Default.RangeMinuteMinute) {
scale._majorUnit = DateUnit.Minute;
if (scale._formatAuto)
scale._format = Default.FormatMinuteMinute;
tempStep = Math.Ceiling(tempStep*XDate.MinutesPerDay);
// make sure the minute step size is 1, 5, 15, or 30 minutes
if (tempStep > 15.0)
tempStep = 30.0;
else if (tempStep > 5.0)
tempStep = 15.0;
else if (tempStep > 1.0)
tempStep = 5.0;
else
tempStep = 1.0;
if (scale._minorStepAuto) {
scale._minorUnit = DateUnit.Minute;
if (tempStep <= 1.0)
scale._minorStep = 0.25;
else if (tempStep <= 5.0)
scale._minorStep = 1.0;
else
scale._minorStep = 5.0;
}
}
else if (range > Default.RangeMinuteSecond) {
scale._majorUnit = DateUnit.Minute;
tempStep = Math.Ceiling(tempStep*XDate.MinutesPerDay);
if (scale._formatAuto)
scale._format = Default.FormatMinuteSecond;
if (scale._minorStepAuto) {
scale._minorUnit = DateUnit.Second;
// Calculate the minor steps to give an estimated 4 steps
// per major step.
scale._minorStep = Math.Ceiling(range/(targetSteps*3)*XDate.SecondsPerDay);
// make sure the minorStep is 1, 5, 15, or 30 seconds
if (scale._minorStep > 15.0)
scale._minorStep = 30.0;
else if (scale._minorStep > 5.0)
scale._minorStep = 15.0;
else if (scale._minorStep > 1.0)
scale._minorStep = 5.0;
else
scale._minorStep = 1.0;
}
}
else if (range > Default.RangeSecondSecond) // SecondSecond
{
scale._majorUnit = DateUnit.Second;
if (scale._formatAuto)
scale._format = Default.FormatSecondSecond;
tempStep = Math.Ceiling(tempStep*XDate.SecondsPerDay);
// make sure the second step size is 1, 5, 15, or 30 seconds
if (tempStep > 15.0)
tempStep = 30.0;
else if (tempStep > 5.0)
tempStep = 15.0;
else if (tempStep > 1.0)
tempStep = 5.0;
else
tempStep = 1.0;
if (scale._minorStepAuto) {
scale._minorUnit = DateUnit.Second;
if (tempStep <= 1.0)
scale._minorStep = 0.25;
else if (tempStep <= 5.0)
scale._minorStep = 1.0;
else
scale._minorStep = 5.0;
}
}
else // MilliSecond
{
scale._majorUnit = DateUnit.Millisecond;
if (scale._formatAuto)
scale._format = Default.FormatMillisecond;
tempStep = CalcStepSize(range*XDate.MillisecondsPerDay, Default.TargetXSteps);
if (scale._minorStepAuto) {
scale._minorStep = CalcStepSize(tempStep,
(scale._ownerAxis is XAxis || scale._ownerAxis is X2Axis)
? Default.TargetMinorXSteps
: Default.TargetMinorYSteps);
scale._minorUnit = DateUnit.Millisecond;
}
}
return tempStep;
}
/// <summary>
/// The Copy Constructor
/// </summary>
/// <param name="rhs">The <see cref="DateScale" /> object from which to copy</param>
/// <param name="owner">The <see cref="Axis" /> object that will own the
/// new instance of <see cref="DateScale" /></param>
public DateScale(Scale rhs, Axis owner)
: base(rhs, owner)
{
}
/// <summary>
/// The Copy Constructor
/// </summary>
/// <param name="rhs">The <see cref="LinearScale" /> object from which to copy</param>
/// <param name="owner">The <see cref="Axis" /> object that will own the
/// new instance of <see cref="LinearScale" /></param>
public LinearScale(Scale rhs, Axis owner)
: base(rhs, owner)
{
}
/// <summary>
/// The Copy Constructor
/// </summary>
/// <param name="rhs">The <see cref="ExponentScale" /> object from which to copy</param>
/// <param name="owner">The <see cref="Axis" /> object that will own the
/// new instance of <see cref="ExponentScale" /></param>
public ExponentScale( Scale rhs, Axis owner )
: base( rhs, owner )
{
}
private void mainGUI_Load(object sender, EventArgs e)
{
//First step, check it gui_settings file is exists or not, if not then start settings wizard
//if (!File.Exists(sGuiSettingsFilename))
//{
// setup_wizard panelSetupWizard = new setup_wizard();
// panelSetupWizard.ShowDialog();
//}
//Now there must be a valid settings file, so we can continue with normal execution
//Start with Settings file read, and parse exit if unsuccessfull
gui_settings = new GUI_settings();
//if (!gui_settings.read_from_xml(sGuiSettingsFilename))
//{
// Environment.Exit(-1);
// }
sOptionsConfigFilename = sOptionsConfigFilename + gui_settings.iSoftwareVersion + ".xml";
read_options_config(); //read and parse optionsconfig.xml file. sets iCheckBoxItems
mw_gui = new mw_data_gui(iPidItems, iCheckBoxItems, gui_settings.iSoftwareVersion);
mw_params = new mw_settings(iPidItems, iCheckBoxItems, gui_settings.iSoftwareVersion);
//Quick hack to get pid names to mw_params untill redo the structures
for (int i = 0; i < iPidItems; i++)
{
mw_params.pidnames[i] = Pid[i].name;
}
bSerialBuffer = new byte[65];
inBuf = new byte[300]; //init input buffer
ToolTip toolTip1 = new ToolTip();
toolTip1.AutoPopDelay = 5000;
toolTip1.InitialDelay = 1000;
toolTip1.ReshowDelay = 500;
toolTip1.ShowAlways = true;
//rcOptions1 = new byte[iCheckBoxItems];
//rcOptions2 = new byte[iCheckBoxItems];
//Fill out settings tab
//l_Settings_folder.Text = gui_settings.sSettingsFolder;
#region Indicator_Struct
//Build indicator lamps array
indicators = new indicator_lamp[iCheckBoxItems];
int row = 0; int col = 0;
int startx = 468; int starty = 269;
for (int i = 0; i < iCheckBoxItems; i++)
{
indicators[i] = new indicator_lamp();
indicators[i].Location = new Point(startx + col * 52, starty + row * 19);
indicators[i].Visible = true;
indicators[i].Text = option_indicators[i];
indicators[i].indicator_color = 1;
indicators[i].Anchor = AnchorStyles.Right;
this.splitContainer1.Panel2.Controls.Add(indicators[i]);
//this.panel1.Controls.Add(indicators[i]);
col++;
if (col == 2) { col = 0; row++; }
}
#endregion
#region AUX_Checkbox_Struct
//Build the RC control checkboxes structure
aux = new CheckBoxEx[4, 4, iCheckBoxItems];
startx = 80;
starty = 60;
int a, b, c;
for (c = 0; c < 4; c++)
{
for (a = 0; a < 3; a++)
{
for (b = 0; b < iCheckBoxItems; b++)
{
aux[c, a, b] = new CheckBoxEx();
aux[c, a, b].Location = new Point(startx + a * 18 + c * 70, starty + b * 25);
aux[c, a, b].Visible = true;
aux[c, a, b].Text = "";
aux[c, a, b].AutoSize = true;
aux[c, a, b].Size = new Size(16, 16);
aux[c, a, b].UseVisualStyleBackColor = true;
aux[c, a, b].CheckedChanged += new System.EventHandler(this.aux_checked_changed_event);
//Set info on the given checkbox position
aux[c, a, b].aux = c; //Which aux channel
aux[c, a, b].rclevel = a; //which rc level
aux[c, a, b].item = b; //Which item
this.groupBox5.Controls.Add(aux[c, a, b]);
}
}
}
aux_labels = new System.Windows.Forms.Label[4];
lmh_labels = new System.Windows.Forms.Label[4, 3]; // aux1-4, L,M,H
string strlmh = "LMH";
for (a = 0; a < 4; a++)
{
aux_labels[a] = new System.Windows.Forms.Label();
aux_labels[a].Text = "AUX" + String.Format("{0:0}", a + 1);
aux_labels[a].Location = new Point(startx + a * 70 + 8, starty - 35);
aux_labels[a].AutoSize = true;
aux_labels[a].ForeColor = Color.Black;
this.groupBox5.Controls.Add(aux_labels[a]);
for (b = 0; b < 3; b++)
{
lmh_labels[a, b] = new System.Windows.Forms.Label();
lmh_labels[a, b].Text = strlmh.Substring(b, 1); ;
lmh_labels[a, b].Location = new Point(startx + a * 70 + b * 18, starty - 20);
lmh_labels[a, b].AutoSize = true;
lmh_labels[a, b].ForeColor = Color.Black;
this.groupBox5.Controls.Add(lmh_labels[a, b]);
}
}
cb_labels = new System.Windows.Forms.Label[20];
for (z = 0; z < iCheckBoxItems; z++)
{
cb_labels[z] = new System.Windows.Forms.Label();
cb_labels[z].Text = option_names[z];
cb_labels[z].Location = new Point(10, starty + z * 25);
cb_labels[z].Visible = true;
cb_labels[z].AutoSize = true;
cb_labels[z].ForeColor = Color.Black;
cb_labels[z].TextAlign = ContentAlignment.MiddleRight;
toolTip1.SetToolTip(cb_labels[z], option_desc[z]);
this.groupBox5.Controls.Add(cb_labels[z]);
}
#endregion
//Build PID control structure based on the Pid structure.
#region PID_Struct
const int iLineSpace = 36;
const int iRow1 = 25;
const int iRow2 = 125;
const int iRow3 = 220;
const int iTopY = 30;
Font fontField = new Font("Arial", 9, FontStyle.Regular);
Size fieldSize = new Size(70, 25);
for (int i = 0; i < iPidItems; i++)
{
Pid[i].pidLabel = new System.Windows.Forms.Label();
Pid[i].pidLabel.Text = Pid[i].name;
Pid[i].pidLabel.Location = new Point(iRow1, 15 + i * iLineSpace);
Pid[i].pidLabel.Visible = true;
Pid[i].pidLabel.AutoSize = true;
Pid[i].pidLabel.ForeColor = Color.Black;
Pid[i].pidLabel.TextAlign = ContentAlignment.MiddleRight;
toolTip1.SetToolTip(Pid[i].pidLabel, Pid[i].description);
this.groupBox4.Controls.Add(Pid[i].pidLabel);
if (Pid[i].Pshown)
{
Pid[i].Pfield = new System.Windows.Forms.NumericUpDown();
Pid[i].Pfield.ValueChanged += new EventHandler(pfield_valuechange);
Pid[i].Pfield.Location = new Point(iRow1, iTopY + i * iLineSpace);
Pid[i].Pfield.Size = fieldSize;
Pid[i].Pfield.Font = fontField;
Pid[i].Pfield.BorderStyle = BorderStyle.FixedSingle;
Pid[i].Pfield.TextAlign = HorizontalAlignment.Center;
Pid[i].Pfield.Maximum = Pid[i].Pmax;
Pid[i].Pfield.Minimum = Pid[i].Pmin;
Pid[i].Pfield.DecimalPlaces = decimals(Pid[i].Pprec);
Pid[i].Pfield.Increment = 1 / (decimal)Pid[i].Pprec;
this.groupBox4.Controls.Add(Pid[i].Pfield);
Pid[i].Plabel = new System.Windows.Forms.Label();
Pid[i].Plabel.Text = "P";
Pid[i].Plabel.Font = fontField;
Pid[i].Plabel.ForeColor = Color.Black;
Pid[i].Plabel.Location = new Point(iRow1 - 20, iTopY + i * iLineSpace);
this.groupBox4.Controls.Add(Pid[i].Plabel);
}
if (Pid[i].Ishown)
{
Pid[i].Ifield = new System.Windows.Forms.NumericUpDown();
Pid[i].Ifield.ValueChanged += new EventHandler(ifield_valuechange);
Pid[i].Ifield.Location = new Point(iRow2, iTopY + i * iLineSpace);
Pid[i].Ifield.Size = fieldSize;
Pid[i].Ifield.Font = fontField;
Pid[i].Ifield.BorderStyle = BorderStyle.FixedSingle;
Pid[i].Ifield.TextAlign = HorizontalAlignment.Center;
Pid[i].Ifield.Maximum = Pid[i].Imax;
Pid[i].Ifield.Minimum = Pid[i].Imin;
Pid[i].Ifield.DecimalPlaces = decimals(Pid[i].Iprec);
Pid[i].Ifield.Increment = 1 / (decimal)Pid[i].Iprec;
this.groupBox4.Controls.Add(Pid[i].Ifield);
Pid[i].Ilabel = new System.Windows.Forms.Label();
Pid[i].Ilabel.Text = "I";
Pid[i].Ilabel.Font = fontField;
Pid[i].Ilabel.ForeColor = Color.Black;
Pid[i].Ilabel.Location = new Point(iRow2 - 20, iTopY + i * iLineSpace);
this.groupBox4.Controls.Add(Pid[i].Ilabel);
}
if (Pid[i].Dshown)
{
Pid[i].Dfield = new System.Windows.Forms.NumericUpDown();
Pid[i].Dfield.ValueChanged += new EventHandler(dfield_valuechange);
Pid[i].Dfield.Location = new Point(iRow3, iTopY + i * iLineSpace);
Pid[i].Dfield.Size = fieldSize;
Pid[i].Dfield.Font = fontField;
Pid[i].Dfield.BorderStyle = BorderStyle.FixedSingle;
Pid[i].Dfield.TextAlign = HorizontalAlignment.Center;
Pid[i].Dfield.Maximum = Pid[i].Dmax;
Pid[i].Dfield.Minimum = Pid[i].Dmin;
Pid[i].Dfield.DecimalPlaces = decimals(Pid[i].Dprec);
Pid[i].Dfield.Increment = 1 / (decimal)Pid[i].Dprec;
this.groupBox4.Controls.Add(Pid[i].Dfield);
Pid[i].Dlabel = new System.Windows.Forms.Label();
Pid[i].Dlabel.Text = "D";
Pid[i].Dlabel.Font = fontField;
Pid[i].Dlabel.ForeColor = Color.Black;
Pid[i].Dlabel.Location = new Point(iRow3 - 18, iTopY + i * iLineSpace);
this.groupBox4.Controls.Add(Pid[i].Dlabel);
}
}
#endregion
this.Refresh();
serial_ports_enumerate();
foreach (string speed in sSerialSpeeds)
{
cb_serial_speed.Items.Add(speed);
}
cb_serial_speed.SelectedItem = "115200";
if (cb_serial_port.Items.Count == 0)
{
b_connect.Enabled = false; //Nos serial port, disable connect
}
//Init serial port object
serialPort = new SerialPort();
//Set up serial port parameters (at least the ones what we know upfront
serialPort.DataBits = 8;
serialPort.Parity = Parity.None;
serialPort.StopBits = StopBits.One;
serialPort.Handshake = Handshake.None;
serialPort.DtrEnable = false; //??
serialPort.ReadBufferSize = 4096; //4K byte of read buffer
serialPort.ReadTimeout = 500; // 500msec timeout;
//Init Realtime Monitor panel controls
foreach (string rate in sRefreshSpeeds)
{
cb_monitor_rate.Items.Add(rate);
}
cb_monitor_rate.SelectedIndex = 0; //20Hz is the default
//cb_serial_speed.SelectedItem = "115200";
//Setup timers
timer_realtime.Tick += new EventHandler(timer_realtime_Tick);
timer_realtime.Interval = iRefreshIntervals[cb_monitor_rate.SelectedIndex];
timer_realtime.Enabled = true;
timer_realtime.Stop();
//Set up zgMonitor control for real time monitoring
GraphPane myPane = zgMonitor.GraphPane;
// Set the titles and axis labels
myPane.Title.Text = "";
myPane.XAxis.Title.Text = "";
myPane.YAxis.Title.Text = "";
#region Zed_Points_Curves
//Set up pointlists and curves
list_acc_roll = new RollingPointPairList(300);
curve_acc_roll = myPane.AddCurve("acc_roll", list_acc_roll, Color.Red, SymbolType.None);
list_acc_pitch = new RollingPointPairList(300);
curve_acc_pitch = myPane.AddCurve("acc_pitch", list_acc_pitch, Color.Green, SymbolType.None);
list_acc_z = new RollingPointPairList(300);
curve_acc_z = myPane.AddCurve("acc_z", list_acc_z, Color.Blue, SymbolType.None);
list_gyro_roll = new RollingPointPairList(300);
curve_gyro_roll = myPane.AddCurve("gyro_roll", list_gyro_roll, Color.Gold, SymbolType.None);
list_gyro_pitch = new RollingPointPairList(300);
curve_gyro_pitch = myPane.AddCurve("gyro_pitch", list_gyro_pitch, Color.DarkCyan, SymbolType.None);
list_gyro_yaw = new RollingPointPairList(300);
curve_gyro_yaw = myPane.AddCurve("gyro_yaw", list_gyro_yaw, Color.Magenta, SymbolType.None);
list_mag_roll = new RollingPointPairList(300);
curve_mag_roll = myPane.AddCurve("mag_roll", list_mag_roll, Color.CadetBlue, SymbolType.None);
list_mag_pitch = new RollingPointPairList(300);
curve_mag_pitch = myPane.AddCurve("mag_pitch", list_mag_pitch, Color.MediumPurple, SymbolType.None);
list_mag_yaw = new RollingPointPairList(300);
curve_mag_yaw = myPane.AddCurve("mag_yaw", list_mag_yaw, Color.DarkGoldenrod, SymbolType.None);
list_alt = new RollingPointPairList(300);
curve_alt = myPane.AddCurve("alt", list_alt, Color.Maroon, SymbolType.None);
list_head = new RollingPointPairList(300);
curve_head = myPane.AddCurve("head", list_head, Color.Orange, SymbolType.None);
// Show the x axis grid
myPane.XAxis.MajorGrid.IsVisible = true;
myPane.YAxis.MajorGrid.IsVisible = true;
// Make the Y axis scale red
myPane.YAxis.Scale.FontSpec.FontColor = Color.Black;
myPane.YAxis.Title.FontSpec.FontColor = Color.Black;
// turn off the opposite tics so the Y tics don't show up on the Y2 axis
myPane.YAxis.MajorTic.IsOpposite = false;
myPane.YAxis.MinorTic.IsOpposite = false;
// Don't display the Y zero line
myPane.YAxis.MajorGrid.IsZeroLine = true;
// Align the Y axis labels so they are flush to the axis
myPane.YAxis.Scale.Align = AlignP.Inside;
myPane.YAxis.Scale.IsVisible = false;
// Manually set the axis range
myPane.YAxis.Scale.Min = -150;
myPane.YAxis.Scale.Max = 150;
myPane.Chart.Fill = new Fill(Color.White, Color.FromArgb(123, 194, 205), 45.0f);
myPane.Fill = new Fill(Color.White, Color.White, 45.0f);
myPane.Legend.IsVisible = false;
myPane.Border.IsVisible = false;
myPane.XAxis.Scale.IsVisible = false;
myPane.YAxis.Scale.IsVisible = true;
myPane.XAxis.Scale.MagAuto = true;
myPane.YAxis.Scale.MagAuto = false;
zgMonitor.IsEnableHPan = true;
zgMonitor.IsEnableHZoom = true;
foreach (ZedGraph.LineItem li in myPane.CurveList)
{
li.Line.Width = 1;
}
myPane.YAxis.Title.FontSpec.FontColor = Color.Black;
myPane.XAxis.Title.FontSpec.FontColor = Color.Black;
myPane.XAxis.Scale.Min = 0;
myPane.XAxis.Scale.Max = 300;
myPane.XAxis.Type = AxisType.Linear;
zgMonitor.ScrollGrace = 0;
xScale = zgMonitor.GraphPane.XAxis.Scale;
zgMonitor.AxisChange();
#endregion
//Disable buttons that are not working till connected
b_reset.Enabled = false;
b_cal_acc.Enabled = false;
b_cal_mag.Enabled = false;
b_read_settings.Enabled = false;
b_write_settings.Enabled = false;
}
/// <summary>
/// Constructor for deserializing objects
/// </summary>
/// <param name="info">A <see cref="SerializationInfo"/> instance that defines the serialized data
/// </param>
/// <param name="context">A <see cref="StreamingContext"/> instance that contains the serialized data
/// </param>
protected Axis( SerializationInfo info, StreamingContext context )
{
// The schema value is just a file version parameter. You can use it to make future versions
// backwards compatible as new member variables are added to classes
int sch = info.GetInt32( "schema" );
_cross = info.GetDouble( "cross" );
_crossAuto = info.GetBoolean( "crossAuto" );
_majorTic = (MajorTic)info.GetValue( "MajorTic", typeof( MajorTic ) );
_minorTic = (MinorTic)info.GetValue( "MinorTic", typeof( MinorTic ) );
_majorGrid = (MajorGrid)info.GetValue( "majorGrid", typeof( MajorGrid ) );
_minorGrid = (MinorGrid)info.GetValue( "minorGrid", typeof( MinorGrid ) );
_isVisible = info.GetBoolean( "isVisible" );
_title = (AxisLabel) info.GetValue( "title", typeof( AxisLabel ) );
_minSpace = info.GetSingle( "minSpace" );
_color = (Color)info.GetValue( "color", typeof( Color ) );
_isAxisSegmentVisible = info.GetBoolean( "isAxisSegmentVisible" );
_axisGap = info.GetSingle( "axisGap" );
_scale = (Scale)info.GetValue( "scale", typeof( Scale ) );
_scale._ownerAxis = this;
}
private void InitScale( Scale scale, bool isBoundedRanges )
{
scale._rangeMin = double.MaxValue;
scale._rangeMax = double.MinValue;
scale._lBound = ( isBoundedRanges && !scale._minAuto ) ?
scale._min : double.MinValue;
scale._uBound = ( isBoundedRanges && !scale._maxAuto ) ?
scale._max : double.MaxValue;
}
internal static void PickScale( GraphPane pane, Graphics g, float scaleFactor, Scale scale )
{
// Test for trivial condition of range = 0 and pick a suitable default
if ( scale._max - scale._min < 1.0 )
{
if ( scale._maxAuto )
scale._max = scale._min + 0.5;
else
scale._min = scale._max - 0.5;
}
else
{
// Calculate the new step size
if ( scale._majorStepAuto )
{
// Calculate the step size based on targetSteps
scale._majorStep = Scale.CalcStepSize( scale._max - scale._min,
( scale._ownerAxis is XAxis || scale._ownerAxis is X2Axis ) ?
Default.TargetXSteps : Default.TargetYSteps );
if ( scale.IsPreventLabelOverlap )
{
// Calculate the maximum number of labels
double maxLabels = (double) scale.CalcMaxLabels( g, pane, scaleFactor );
// Calculate a step size based on the width of the labels
double tmpStep = Math.Ceiling( ( scale._max - scale._min ) / maxLabels );
// Use the greater of the two step sizes
if ( tmpStep > scale._majorStep )
scale._majorStep = tmpStep;
}
}
scale._majorStep = (int)scale._majorStep;
if ( scale._majorStep < 1.0 )
scale._majorStep = 1.0;
// Calculate the new minor step size
if ( scale._minorStepAuto )
scale._minorStep = Scale.CalcStepSize( scale._majorStep,
( scale._ownerAxis is XAxis || scale._ownerAxis is X2Axis ) ?
Default.TargetMinorXSteps : Default.TargetMinorYSteps );
if ( scale._minAuto )
scale._min -= 0.5;
if ( scale._maxAuto )
scale._max += 0.5;
}
}
/*
/// <summary>
/// Implement the <see cref="ICloneable" /> interface in a typesafe manner by just
/// calling the typed version of Clone />
/// </summary>
/// <remarks>
/// Note that this method must be called with an explicit cast to ICloneable, and
/// that it is inherently virtual. For example:
/// <code>
/// ParentClass foo = new ChildClass();
/// ChildClass bar = (ChildClass) ((ICloneable)foo).Clone();
/// </code>
/// Assume that ChildClass is inherited from ParentClass. Even though foo is declared with
/// ParentClass, it is actually an instance of ChildClass. Calling the ICloneable implementation
/// of Clone() on foo actually calls ChildClass.Clone() as if it were a virtual function.
/// </remarks>
/// <returns>A deep copy of this object</returns>
object ICloneable.Clone()
{
throw new NotImplementedException( "Can't clone an abstract base type -- child types must implement ICloneable" );
//return new PaneBase( this );
}
*/
/// <summary>
/// A construction method that creates a new <see cref="Scale"/> object using the
/// properties of an existing <see cref="Scale"/> object, but specifying a new
/// <see cref="AxisType"/>.
/// </summary>
/// <remarks>
/// This constructor is used to change the type of an existing <see cref="Axis" />.
/// By specifying the old <see cref="Scale"/> object, you are giving a set of properties
/// (which encompasses all fields associated with the scale, since the derived types
/// have no fields) to be used in creating a new <see cref="Scale"/> object, only this
/// time having the newly specified object type.</remarks>
/// <param name="oldScale">The existing <see cref="Scale" /> object from which to
/// copy the field data.</param>
/// <param name="type">An <see cref="AxisType"/> representing the type of derived type
/// of new <see cref="Scale" /> object to create.</param>
/// <returns>The new <see cref="Scale"/> object.</returns>
public Scale MakeNewScale( Scale oldScale, AxisType type )
{
switch ( type )
{
case AxisType.Linear:
return new LinearScale( oldScale, _ownerAxis );
case AxisType.Date:
return new DateScale( oldScale, _ownerAxis );
case AxisType.Log:
return new LogScale( oldScale, _ownerAxis );
case AxisType.Exponent:
return new ExponentScale( oldScale, _ownerAxis );
case AxisType.Ordinal:
return new OrdinalScale( oldScale, _ownerAxis );
case AxisType.Text:
return new TextScale( oldScale, _ownerAxis );
case AxisType.DateAsOrdinal:
return new DateAsOrdinalScale( oldScale, _ownerAxis );
case AxisType.LinearAsOrdinal:
return new LinearAsOrdinalScale( oldScale, _ownerAxis );
default:
throw new Exception( "Implementation Error: Invalid AxisType" );
}
}
/// <summary>
/// The Copy Constructor
/// </summary>
/// <param name="rhs">The <see cref="LinearAsOrdinalScale" /> object from which to copy</param>
/// <param name="owner">The <see cref="Axis" /> object that will own the
/// new instance of <see cref="LinearAsOrdinalScale" /></param>
public LinearAsOrdinalScale(Scale rhs, Axis owner)
: base(rhs, owner)
{
}
/// <summary>
/// Local dispose method
/// </summary>
/// <param name="bDisposing">if disposing is required</param>
protected virtual void Dispose(bool bDisposing)
{
if (!m_bDisposed)
{
if (bDisposing)
{
if (_title != null)
{
_title.Dispose();
_title = null;
}
if (_scale != null)
{
_scale.Dispose();
_scale = null;
}
}
m_bDisposed = true;
}
}
