private void UpdateGyroAccProc(GyroAccProcessed ga)
{
_tbAccX.Text = ga.AccX.ToString();
_tbAccY.Text = ga.AccY.ToString();
_tbAccZ.Text = ga.AccZ.ToString();
_tbSumAcc.Text = Math.Sqrt(ga.AccX * ga.AccX + ga.AccY * ga.AccY + ga.AccZ * ga.AccZ).ToString();
_tbGyroX.Text = ga.GyroX.ToString();
_tbGyroY.Text = ga.GyroY.ToString();
_tbGyroZ.Text = ga.GyroZ.ToString();
}
private void ReceiveGyroAccProc(GyroAccProcessed ga)
{
this.BeginInvoke(new D_UpdateGyroAccProc(UpdateGyroAccProc), new object[] { ga });
}
private void _serial_GyroAccProcCommunicationReceived(GyroAccProcessed ga)
{
this.BeginInvoke(new D_UpdateGyroAccProc(UpdateGyroAccProc), new object[] { ga });
}
/*!
* This function (that executes in a separate thread) is an
* infinite loop that receives all lines from the serial port
* and parses and executes them.
*/
private object ReceiveThreadedData(object state)
{
//_serialPort.ReadTimeout = 1000;
bool recognised_frame = true;
string line = string.Empty;
while (file_to_replay != null && file_to_replay.BaseStream != null && !file_to_replay.EndOfStream)
{
try
{
while (!Play)
Thread.Sleep(100);
KeyValuePair<TimeSpan, string> kvp = ReadReplayLine();
if (DoubleSpeed)
Thread.Sleep((int)(kvp.Key.TotalMilliseconds / 2.0));
else if (QuadSpeed)
Thread.Sleep((int)(kvp.Key.TotalMilliseconds / 4.0));
else
Thread.Sleep(kvp.Key);
//Console.WriteLine(kvp.Key.ToString() + " - " + kvp.Value);
line = kvp.Value;
//line = _serialPort.ReadLine();
if (line.StartsWith("$")) // line with checksum
{
string[] frame = line.Substring(1, line.Length-1).Split('*');
//line = frame[0];
if (calculateChecksum(frame[0]) == Int32.Parse(frame[1], System.Globalization.NumberStyles.HexNumber))
line = frame[0];
else
throw new Exception("Checksum error");
}
if (logfile != null)
logfile.WriteLine("[" + DateTime.Now.ToString("MM/dd/yyyy HH:mm:ss") + "] " + line);
lock (this)
{
bytes_read += line.Length + 1;
}
line = line.Replace("\r", "");
string[] lines = line.Split(';');
//Console.WriteLine(line + "\n\r");
// TR: Gyro & Acc raw
recognised_frame = true;
if (lines[0].EndsWith("TR") && lines.Length >= 6)
{
double acc_x_raw = double.Parse(lines[1]);
double acc_y_raw = double.Parse(lines[2]);
double acc_z_raw = double.Parse(lines[3]);
double gyro_x = double.Parse(lines[4]);
double gyro_y = double.Parse(lines[5]);
double gyro_z = double.Parse(lines[6]);
GyroAccRaw ga = new GyroAccRaw(acc_x_raw, acc_y_raw, acc_z_raw, gyro_x, gyro_y, gyro_z);
if (GyroAccRawCommunicationReceived != null)
GyroAccRawCommunicationReceived(ga);
}
// TP: Processed gyro & acc
else if (lines[0].EndsWith("TP") && lines.Length >= 6)
{
double acc_x = double.Parse(lines[1]) / 1000.0;
double acc_y = double.Parse(lines[2]) / 1000.0;
double acc_z = double.Parse(lines[3]) / 1000.0;
double gyro_x = double.Parse(lines[4]) / 1000.0 * 180.0 / 3.14;
double gyro_y = double.Parse(lines[5]) / 1000.0 * 180.0 / 3.14;
double gyro_z = double.Parse(lines[6]) / 1000.0 * 180.0 / 3.14;
GyroAccProcessed ga = new GyroAccProcessed(acc_x, acc_y, acc_z, gyro_x, gyro_y, gyro_z);
if (GyroAccProcCommunicationReceived != null)
GyroAccProcCommunicationReceived(ga);
}
// TH: Pressure & Temp
else if (lines[0].EndsWith("TH") && lines.Length >= 2)
{
float pressure = float.Parse(lines[1]);
float temp = float.Parse(lines[2]);
PressureTemp pt = new PressureTemp(temp, pressure);
if (PressureTempCommunicationReceived != null)
PressureTempCommunicationReceived(pt);
}
// CA: All configuration
else if (lines[0].EndsWith("CA") && lines.Length >= 2)
{
AllConfig ac = new AllConfig();
ac.acc_x_neutral = int.Parse(lines[1]);
ac.acc_y_neutral = int.Parse(lines[2]);
ac.acc_z_neutral = int.Parse(lines[3]);
ac.gyro_x_neutral = int.Parse(lines[4]);
ac.gyro_y_neutral = int.Parse(lines[5]);
ac.gyro_z_neutral = int.Parse(lines[6]);
ac.telemetry_basicgps = int.Parse(lines[7]);
ac.telemetry_ppm = int.Parse(lines[8]);
ac.telemetry_gyroaccraw = int.Parse(lines[9]);
ac.telemetry_gyroaccproc = int.Parse(lines[10]);
ac.telemetry_pressuretemp = int.Parse(lines[11]);
ac.telemetry_attitude = int.Parse(lines[12]);
ac.gps_initial_baudrate = int.Parse(lines[13]) * 10;
ac.gps_operational_baudrate = int.Parse(lines[14]) * 10;
ac.channel_ap = int.Parse(lines[15]) + 1;
ac.channel_motor = int.Parse(lines[16]) + 1;
ac.channel_pitch = int.Parse(lines[17]) + 1;
ac.channel_roll = int.Parse(lines[18]) + 1;
ac.channel_yaw = int.Parse(lines[19]) + 1;
ac.pid_pitch2elevator_p = double.Parse(lines[20], System.Globalization.CultureInfo.InvariantCulture);
ac.pid_pitch2elevator_d = double.Parse(lines[21], System.Globalization.CultureInfo.InvariantCulture);
ac.pid_pitch2elevator_i = double.Parse(lines[22], System.Globalization.CultureInfo.InvariantCulture);
ac.pid_pitch2elevator_imin = double.Parse(lines[23], System.Globalization.CultureInfo.InvariantCulture);
ac.pid_pitch2elevator_imax = double.Parse(lines[24], System.Globalization.CultureInfo.InvariantCulture);
ac.pid_pitch2elevator_dmin = double.Parse(lines[25], System.Globalization.CultureInfo.InvariantCulture);
ac.pid_roll2aileron_p = double.Parse(lines[26], System.Globalization.CultureInfo.InvariantCulture);
ac.pid_roll2aileron_d = double.Parse(lines[27], System.Globalization.CultureInfo.InvariantCulture);
ac.pid_roll2aileron_i = double.Parse(lines[28], System.Globalization.CultureInfo.InvariantCulture);
ac.pid_roll2aileron_imin = double.Parse(lines[29], System.Globalization.CultureInfo.InvariantCulture);
ac.pid_roll2aileron_imax = double.Parse(lines[30], System.Globalization.CultureInfo.InvariantCulture);
ac.pid_roll2aileron_dmin = double.Parse(lines[31], System.Globalization.CultureInfo.InvariantCulture);
ac.pid_heading2roll_p = double.Parse(lines[32], System.Globalization.CultureInfo.InvariantCulture);
ac.pid_heading2roll_d = double.Parse(lines[33], System.Globalization.CultureInfo.InvariantCulture);
ac.pid_heading2roll_i = double.Parse(lines[34], System.Globalization.CultureInfo.InvariantCulture);
ac.pid_heading2roll_imin = double.Parse(lines[35], System.Globalization.CultureInfo.InvariantCulture);
ac.pid_heading2roll_imax = double.Parse(lines[36], System.Globalization.CultureInfo.InvariantCulture);
ac.pid_heading2roll_dmin = double.Parse(lines[37], System.Globalization.CultureInfo.InvariantCulture);
ac.pid_altitude2pitch_p = double.Parse(lines[38], System.Globalization.CultureInfo.InvariantCulture);
ac.pid_altitude2pitch_d = double.Parse(lines[39], System.Globalization.CultureInfo.InvariantCulture);
ac.pid_altitude2pitch_i = double.Parse(lines[40], System.Globalization.CultureInfo.InvariantCulture);
ac.pid_altitude2pitch_imin = double.Parse(lines[41], System.Globalization.CultureInfo.InvariantCulture);
ac.pid_altitude2pitch_imax = double.Parse(lines[42], System.Globalization.CultureInfo.InvariantCulture);
ac.pid_altitude2pitch_dmin = double.Parse(lines[43], System.Globalization.CultureInfo.InvariantCulture);
int r = int.Parse(lines[44]);
byte r2 = (byte)r;
ac.servo_reverse[0] = (r & 1) != 0;
ac.servo_reverse[1] = (r & 2) != 0;
ac.servo_reverse[2] = (r & 4) != 0;
ac.servo_reverse[3] = (r & 8) != 0;
ac.servo_reverse[4] = (r & 16) != 0;
ac.servo_reverse[5] = (r & 32) != 0;
for (int i = 0; i < 6; i++)
{
ac.servo_min[i] = int.Parse(lines[45 + i * 3], System.Globalization.CultureInfo.InvariantCulture);
ac.servo_max[i] = int.Parse(lines[46 + i * 3], System.Globalization.CultureInfo.InvariantCulture);
ac.servo_neutral[i] = int.Parse(lines[47 + i * 3], System.Globalization.CultureInfo.InvariantCulture);
}
ac.rc_ppm = 1 - int.Parse(lines[63]);
ac.control_mixing = int.Parse(lines[64]);
ac.control_max_pitch = int.Parse(lines[65]);
ac.control_max_roll = int.Parse(lines[66]);
// for backwards compatibility
if (lines.Length > 67)
ac.control_waypoint_radius = int.Parse(lines[67]);
if (lines.Length > 68)
ac.control_cruising_speed = int.Parse(lines[68]);
if (lines.Length > 69)
ac.control_stabilization_with_altitude_hold = int.Parse(lines[69]) == 0 ? false : true;
if (lines.Length > 70)
ac.control_aileron_differential = int.Parse(lines[70]);
if (lines.Length > 71)
ac.telemetry_control = int.Parse(lines[71]);
if (lines.Length > 72)
{
ac.auto_throttle_enabled = int.Parse(lines[72]) == 1;
ac.auto_throttle_min_pct = int.Parse(lines[73]);
ac.auto_throttle_max_pct = int.Parse(lines[74]);
ac.auto_throttle_cruise_pct = int.Parse(lines[75]);
ac.auto_throttle_p_gain_10 = int.Parse(lines[76]);
}
if (lines.Length > 77)
ac.control_min_pitch = int.Parse(lines[77]);
if (lines.Length > 78)
{
ac.manual_trim = int.Parse(lines[78]) == 0 ? false : true;
Console.WriteLine("receive: " + lines[78]);
}
if (lines.Length > 79)
{
ac.control_altitude_mode = int.Parse(lines[79]);
}
else
Console.WriteLine("FOUT");
if (lines.Length > 80)
{
ac.gps_enable_waas = int.Parse(lines[80]);
}
else
Console.WriteLine("FOUT");
if (lines.Length > 81)
{
ac.osd_bitmask = int.Parse(lines[81]);
ac.osd_RssiMode = int.Parse(lines[82]);
ac.osd_voltage_low = ((double)int.Parse(lines[83])) / 50.0;
ac.osd_voltage_high = ((double)int.Parse(lines[84])) / 50.0;
}
if (lines.Length > 84)
{
ac.imu_rotated = int.Parse(lines[85]);
ac.neutral_pitch = int.Parse(lines[86]);
}
if (AllConfigCommunicationReceived != null)
AllConfigCommunicationReceived(ac);
}
// TT: RC transmitter
else if (lines[0].EndsWith("TT") && lines.Length >= 7)
{
RcInput rc = new RcInput(
new int[] {
int.Parse(lines[1]),
int.Parse(lines[2]),
int.Parse(lines[3]),
int.Parse(lines[4]),
int.Parse(lines[5]),
int.Parse(lines[6]),
int.Parse(lines[7])});
if (RcInputCommunicationReceived != null)
RcInputCommunicationReceived(rc);
}
// TG: GPS basic
else if (lines[0].EndsWith("TG") && lines.Length >= 7)
{
//Console.WriteLine(line);
GpsBasic gb = new GpsBasic(
double.Parse(lines[2], System.Globalization.CultureInfo.InvariantCulture),
double.Parse(lines[3], System.Globalization.CultureInfo.InvariantCulture),
int.Parse(lines[7]),
double.Parse(lines[5]) / 100,
double.Parse(lines[4]) / 10,
int.Parse(lines[6]),
int.Parse(lines[1])
);
if (GpsBasicCommunicationReceived != null)
GpsBasicCommunicationReceived(gb);
}
// TA: Attitude
else if (lines[0].EndsWith("TA") && lines.Length >= 3)
{
Attitude att = new Attitude(
double.Parse(lines[1], CultureInfo.InvariantCulture) / 1000.0 / 3.14 * 180.0,
double.Parse(lines[2], CultureInfo.InvariantCulture) / 1000.0 / 3.14 * 180.0,
/*double.Parse(lines[3], CultureInfo.InvariantCulture) / 1000.0 / 3.14 * 180.0,
double.Parse(lines[4], CultureInfo.InvariantCulture) / 1000.0 / 3.14 * 180.0,*/0,0,
double.Parse(lines[3], CultureInfo.InvariantCulture) / 1000.0 / 3.14 * 180.0
);
if (AttitudeCommunicationReceived != null)
AttitudeCommunicationReceived(att);
}
// DT: Datalog table
else if (lines[0].EndsWith("DT") && lines.Length >= 4)
{
DatalogTable dt = new DatalogTable(
int.Parse(lines[1]),
int.Parse(lines[3]),
int.Parse(lines[4]),
int.Parse(lines[2]),
0);
if (DatalogTableCommunicationReceived != null)
DatalogTableCommunicationReceived(dt);
}
// DH: Datalog header
else if (lines[0].EndsWith("DH") && lines.Length >= 4)
{
DatalogHeader = new string[lines.Length - 1];
for (int i = 1; i < lines.Length; i++)
DatalogHeader[i - 1] = lines[i];
}
// DD: Datalog data
else if (lines[0].EndsWith("DD") && lines.Length >= 4)
{
string[] logline = new string[DatalogHeader.Length];
for (int i = 0; i < logline.Length; i++)
logline[i] = lines[i + 1];
DatalogLine dl = new DatalogLine(
logline, DatalogHeader);
if (DatalogLineCommunicationReceived != null)
DatalogLineCommunicationReceived(dl);
}
// ND: Navigation data (Navigation instruction)
else if (lines[0].EndsWith("ND") && lines.Length >= 6)
{
Console.WriteLine(line);
lines[1] = lines[1].Replace("nan", "0");
lines[2] = lines[2].Replace("nan", "0");
lines[3] = lines[3].Replace("nan", "0");
lines[4] = lines[4].Replace("nan", "0");
lines[5] = lines[5].Replace("nan", "0");
lines[6] = lines[6].Replace("nan", "0");
NavigationInstruction ni =
new NavigationInstruction(
int.Parse(lines[1]),
(NavigationInstruction.navigation_command)int.Parse(lines[2]),
double.Parse(lines[3], CultureInfo.InvariantCulture),
double.Parse(lines[4], CultureInfo.InvariantCulture),
int.Parse(lines[5]),
int.Parse(lines[6]) );
if (NavigationInstructionCommunicationReceived != null)
NavigationInstructionCommunicationReceived(ni);
}
// TS: Servos (simulation)
else if (lines[0].EndsWith("TS") && lines.Length >= 3)
{
Console.WriteLine(line);
Servos s =
new Servos(
int.Parse(lines[1]),
int.Parse(lines[2]),
int.Parse(lines[3]));
if (ServosCommunicationReceived != null)
ServosCommunicationReceived(s);
}
// Control
else if (lines[0].EndsWith("TC") && lines.Length >= 3)
{
ControlInfo ci =
new ControlInfo();
ci.FlightMode = (ControlInfo.FlightModes)int.Parse(lines[1]);
ci.CurrentNavigationLine = int.Parse(lines[2]);
ci.Altitude = int.Parse(lines[3]);
if (lines.Length >= 5)
{
ci.Batt1Voltage = double.Parse(lines[4]) / 10.0;
if (lines.Length >= 6)
{
ci.FlightTime = int.Parse(lines[5]);
ci.BlockTime = int.Parse(lines[6]);
ci.RcLink = int.Parse(lines[7]);
ci.Throttle = int.Parse(lines[8]);
}
if (lines.Length >= 10)
{
ci.TargetAltitude = int.Parse(lines[9]);
}
if (lines.Length >= 11)
{
ci.Batt2Voltage = double.Parse(lines[10]) / 10.0;
ci.Batt_mAh = double.Parse(lines[11]) * 10.0;
}
}
if (ControlInfoCommunicationReceived != null)
ControlInfoCommunicationReceived(ci);
}
else
{
recognised_frame = false;
Console.WriteLine(line);
if (NonParsedCommunicationReceived != null)
NonParsedCommunicationReceived(line);
}
}
catch (TimeoutException toe)
{
if (CommunicationAlive)
{
if (CommunicationLost != null && SecondsConnectionLost() >= 5.0)
{
CommunicationLost();
CommunicationAlive = false;
}
}
}
catch (IOException ioe)
{
// happens when thread is shut down
}
catch (Exception e)
{
;
}
try
{
if (recognised_frame)
{
//Console.WriteLine(line);
LastValidFrame = DateTime.Now;
FramesReceived++;
if (!CommunicationAlive)
{
CommunicationAlive = true;
if (CommunicationEstablished != null)
CommunicationEstablished();
}
}
if (CommunicationReceived != null)
CommunicationReceived(line);
}
catch (Exception e)
{
;
}
}
CommunicationAlive = false;
CommunicationLost();
return null;
}
private void UpdateGyroAccProc(GyroAccProcessed ga)
{
double time = (DateTime.Now - _beginDateTime).TotalSeconds;
if (_lineItems.ContainsKey("Rotationrate X"))
_lineItems["Rotationrate X"].AddPoint(new PointPair(time, ga.GyroX));
if (_lineItems.ContainsKey("Rotationrate Y"))
_lineItems["Rotationrate Y"].AddPoint(new PointPair(time, ga.GyroY));
if (_lineItems.ContainsKey("Rotationrate Z"))
_lineItems["Rotationrate Z"].AddPoint(new PointPair(time, ga.GyroZ));
if (_lineItems.ContainsKey("Acceleration X"))
_lineItems["Acceleration X"].AddPoint(new PointPair(time, ga.AccX));
if (_lineItems.ContainsKey("Acceleration Y"))
_lineItems["Acceleration Y"].AddPoint(new PointPair(time, ga.AccY));
if (_lineItems.ContainsKey("Acceleration Z"))
_lineItems["Acceleration Z"].AddPoint(new PointPair(time, ga.AccZ));
Scale xScale = _zed_graph.GraphPane.XAxis.Scale;
if (time > xScale.Max - xScale.MajorStep)
{
xScale.Max = time + xScale.MajorStep;
xScale.Min = xScale.Max - _timewindow;
}
_zed_graph.AxisChange();
_zed_graph.Invalidate(true);
}
