/// <summary>
/// keyboard shortcuts override
/// </summary>
/// <param name="msg"></param>
/// <param name="keyData"></param>
/// <returns></returns>
protected override bool ProcessCmdKey(ref Message msg, Keys keyData)
{
if (keyData == Keys.F12)
{
MenuConnect_Click(null, null);
return true;
}
if (keyData == Keys.F2)
{
MenuFlightData_Click(null, null);
return true;
}
if (keyData == Keys.F3)
{
MenuFlightPlanner_Click(null, null);
return true;
}
if (keyData == Keys.F4)
{
MenuTuning_Click(null, null);
return true;
}
if (keyData == Keys.F5)
{
comPort.getParamList();
MyView.ShowScreen(MyView.current.Name);
return true;
}
if (keyData == (Keys.Control | Keys.F)) // temp
{
Form frm = new temp();
ThemeManager.ApplyThemeTo(frm);
frm.Show();
return true;
}
/*if (keyData == (Keys.Control | Keys.S)) // screenshot
{
ScreenShot();
return true;
}*/
if (keyData == (Keys.Control | Keys.G)) // nmea out
{
Form frm = new SerialOutputNMEA();
ThemeManager.ApplyThemeTo(frm);
frm.Show();
return true;
}
if (keyData == (Keys.Control | Keys.X)) // select sysid
{
MissionPlanner.Controls.SysidSelector id = new SysidSelector();
id.TopMost = true;
id.Show();
return true;
}
if (keyData == (Keys.Control | Keys.L)) // limits
{
return true;
}
if (keyData == (Keys.Control | Keys.W)) // test ac config
{
return true;
}
if (keyData == (Keys.Control | Keys.Z))
{
MissionPlanner.GenOTP otp = new MissionPlanner.GenOTP();
otp.ShowDialog(this);
return true;
}
if (keyData == (Keys.Control | Keys.T)) // for override connect
{
try
{
MainV2.comPort.Open(false);
}
catch (Exception ex) { CustomMessageBox.Show(ex.ToString()); }
return true;
}
if (keyData == (Keys.Control | Keys.Y)) // for ryan beall and ollyw42
{
// write
try
{
MainV2.comPort.doCommand(MAVLink.MAV_CMD.PREFLIGHT_STORAGE, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f);
}
catch { CustomMessageBox.Show("Invalid command"); return true; }
//read
///////MainV2.comPort.doCommand(MAVLink09.MAV_CMD.PREFLIGHT_STORAGE, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f);
CustomMessageBox.Show("Done MAV_ACTION_STORAGE_WRITE");
return true;
}
if (keyData == (Keys.Control | Keys.J))
{
/*
var test = MainV2.comPort.GetLogList();
foreach (var item in test)
{
var ms = comPort.GetLog(item.id);
using (BinaryWriter bw = new BinaryWriter(File.OpenWrite("test" + item.id + ".bin")))
{
bw.Write(ms.ToArray());
}
var temp1 = Log.BinaryLog.ReadLog("test" + item.id + ".bin");
File.WriteAllLines("test" + item.id + ".log", temp1);
}*/
return true;
}
return base.ProcessCmdKey(ref msg, keyData);
}
public void doConnect(MAVLinkInterface comPort, string portname, string baud)
{
bool skipconnectcheck = false;
log.Info("We are connecting");
switch (portname)
{
case "preset":
skipconnectcheck = true;
break;
case "TCP":
comPort.BaseStream = new TcpSerial();
_connectionControl.CMB_serialport.Text = "TCP";
break;
case "UDP":
comPort.BaseStream = new UdpSerial();
_connectionControl.CMB_serialport.Text = "UDP";
break;
case "UDPCl":
comPort.BaseStream = new UdpSerialConnect();
_connectionControl.CMB_serialport.Text = "UDPCl";
break;
case "AUTO":
default:
comPort.BaseStream = new SerialPort();
break;
}
// Tell the connection UI that we are now connected.
_connectionControl.IsConnected(true);
// Here we want to reset the connection stats counter etc.
this.ResetConnectionStats();
comPort.MAV.cs.ResetInternals();
//cleanup any log being played
comPort.logreadmode = false;
if (comPort.logplaybackfile != null)
comPort.logplaybackfile.Close();
comPort.logplaybackfile = null;
try
{
// do autoscan
if (portname == "AUTO")
{
Comms.CommsSerialScan.Scan(false);
DateTime deadline = DateTime.Now.AddSeconds(50);
while (Comms.CommsSerialScan.foundport == false)
{
System.Threading.Thread.Sleep(100);
if (DateTime.Now > deadline)
{
CustomMessageBox.Show(Strings.Timeout);
_connectionControl.IsConnected(false);
return;
}
}
_connectionControl.CMB_serialport.Text = portname = Comms.CommsSerialScan.portinterface.PortName;
_connectionControl.CMB_baudrate.Text = baud = Comms.CommsSerialScan.portinterface.BaudRate.ToString();
}
log.Info("Set Portname");
// set port, then options
comPort.BaseStream.PortName = portname;
log.Info("Set Baudrate");
try
{
comPort.BaseStream.BaudRate = int.Parse(baud);
}
catch (Exception exp)
{
log.Error(exp);
}
// prevent serialreader from doing anything
comPort.giveComport = true;
log.Info("About to do dtr if needed");
// reset on connect logic.
if (config["CHK_resetapmonconnect"] == null || bool.Parse(config["CHK_resetapmonconnect"].ToString()) == true)
{
log.Info("set dtr rts to false");
comPort.BaseStream.DtrEnable = false;
comPort.BaseStream.RtsEnable = false;
comPort.BaseStream.toggleDTR();
}
comPort.giveComport = false;
// setup to record new logs
try
{
Directory.CreateDirectory(MainV2.LogDir);
comPort.logfile = new BufferedStream(File.Open(MainV2.LogDir + Path.DirectorySeparatorChar + DateTime.Now.ToString("yyyy-MM-dd HH-mm-ss") + ".tlog", FileMode.CreateNew, FileAccess.ReadWrite, FileShare.None));
comPort.rawlogfile = new BufferedStream(File.Open(MainV2.LogDir + Path.DirectorySeparatorChar + DateTime.Now.ToString("yyyy-MM-dd HH-mm-ss") + ".rlog", FileMode.CreateNew, FileAccess.ReadWrite, FileShare.None));
log.Info("creating logfile " + DateTime.Now.ToString("yyyy-MM-dd HH-mm-ss") + ".tlog");
}
catch (Exception exp2) { log.Error(exp2); CustomMessageBox.Show(Strings.Failclog); } // soft fail
// reset connect time - for timeout functions
connecttime = DateTime.Now;
// do the connect
comPort.Open(false, skipconnectcheck);
if (!comPort.BaseStream.IsOpen)
{
log.Info("comport is closed. existing connect");
try
{
_connectionControl.IsConnected(false);
UpdateConnectIcon();
comPort.Close();
}
catch { }
return;
}
// 3dr radio is hidden as no hb packet is ever emitted
if (comPort.sysidseen.Count > 1)
{
// we have more than one mav
// user selection of sysid
MissionPlanner.Controls.SysidSelector id = new SysidSelector();
id.Show();
}
// create a copy
int[] list = comPort.sysidseen.ToArray();
// get all the params
foreach (var sysid in list)
{
comPort.sysidcurrent = sysid;
comPort.getParamList();
}
// set to first seen
comPort.sysidcurrent = list[0];
// detect firmware we are conected to.
if (comPort.MAV.cs.firmware == Firmwares.ArduCopter2)
{
_connectionControl.TOOL_APMFirmware.SelectedIndex = _connectionControl.TOOL_APMFirmware.Items.IndexOf(Firmwares.ArduCopter2);
}
else if (comPort.MAV.cs.firmware == Firmwares.Ateryx)
{
_connectionControl.TOOL_APMFirmware.SelectedIndex = _connectionControl.TOOL_APMFirmware.Items.IndexOf(Firmwares.Ateryx);
}
else if (comPort.MAV.cs.firmware == Firmwares.ArduRover)
{
_connectionControl.TOOL_APMFirmware.SelectedIndex = _connectionControl.TOOL_APMFirmware.Items.IndexOf(Firmwares.ArduRover);
}
else if (comPort.MAV.cs.firmware == Firmwares.ArduPlane)
{
_connectionControl.TOOL_APMFirmware.SelectedIndex = _connectionControl.TOOL_APMFirmware.Items.IndexOf(Firmwares.ArduPlane);
}
// check for newer firmware
var softwares = Firmware.LoadSoftwares();
if (softwares.Count > 0)
{
try
{
string[] fields1 = comPort.MAV.VersionString.Split(' ');
foreach (Firmware.software item in softwares)
{
string[] fields2 = item.name.Split(' ');
// check primare firmware type. ie arudplane, arducopter
if (fields1[0] == fields2[0])
{
Version ver1 = VersionDetection.GetVersion(comPort.MAV.VersionString);
Version ver2 = VersionDetection.GetVersion(item.name);
if (ver2 > ver1)
{
Common.MessageShowAgain(Strings.NewFirmware, Strings.NewFirmwareA + item.name + Strings.Pleaseup);
break;
}
// check the first hit only
break;
}
}
}
catch (Exception ex) { log.Error(ex); }
}
FlightData.CheckBatteryShow();
MissionPlanner.Utilities.Tracking.AddEvent("Connect", "Connect", comPort.MAV.cs.firmware.ToString(), comPort.MAV.param.Count.ToString());
MissionPlanner.Utilities.Tracking.AddTiming("Connect", "Connect Time", (DateTime.Now - connecttime).TotalMilliseconds, "");
MissionPlanner.Utilities.Tracking.AddEvent("Connect", "Baud", comPort.BaseStream.BaudRate.ToString(), "");
// save the baudrate for this port
config[_connectionControl.CMB_serialport.Text + "_BAUD"] = _connectionControl.CMB_baudrate.Text;
this.Text = titlebar + " " + comPort.MAV.VersionString;
// refresh config window if needed
if (MyView.current != null)
{
if (MyView.current.Name == "HWConfig")
MyView.ShowScreen("HWConfig");
if (MyView.current.Name == "SWConfig")
MyView.ShowScreen("SWConfig");
}
// load wps on connect option.
if (config["loadwpsonconnect"] != null && bool.Parse(config["loadwpsonconnect"].ToString()) == true)
{
// only do it if we are connected.
if (comPort.BaseStream.IsOpen)
{
MenuFlightPlanner_Click(null, null);
FlightPlanner.BUT_read_Click(null, null);
}
}
// get any rallypoints
if (MainV2.comPort.MAV.param.ContainsKey("RALLY_TOTAL") && int.Parse(MainV2.comPort.MAV.param["RALLY_TOTAL"].ToString()) > 0)
{
FlightPlanner.getRallyPointsToolStripMenuItem_Click(null, null);
double maxdist = 0;
foreach (var rally in comPort.MAV.rallypoints)
{
foreach (var rally1 in comPort.MAV.rallypoints)
{
var pnt1 = new PointLatLngAlt(rally.Value.lat / 10000000.0f, rally.Value.lng / 10000000.0f);
var pnt2 = new PointLatLngAlt(rally1.Value.lat / 10000000.0f, rally1.Value.lng / 10000000.0f);
var dist = pnt1.GetDistance(pnt2);
maxdist = Math.Max(maxdist, dist);
}
}
if (comPort.MAV.param.ContainsKey("RALLY_LIMIT_KM") && (maxdist / 1000.0) > (float)comPort.MAV.param["RALLY_LIMIT_KM"])
{
CustomMessageBox.Show(Strings.Warningrallypointdistance + " " + (maxdist / 1000.0).ToString("0.00") + " > " + (float)comPort.MAV.param["RALLY_LIMIT_KM"]);
}
}
// set connected icon
this.MenuConnect.Image = displayicons.disconnect;
}
catch (Exception ex)
{
log.Warn(ex);
try
{
_connectionControl.IsConnected(false);
UpdateConnectIcon();
comPort.Close();
}
catch (Exception ex2)
{
log.Warn(ex2);
}
CustomMessageBox.Show("Can not establish a connection\n\n" + ex.Message);
return;
}
}
private void MenuConnect_Click(object sender, EventArgs e)
{
comPort.giveComport = false;
log.Info("MenuConnect Start");
// sanity check
if (comPort.BaseStream.IsOpen && MainV2.comPort.MAV.cs.groundspeed > 4)
{
if (DialogResult.No == CustomMessageBox.Show(Strings.Stillmoving, Strings.Disconnect, MessageBoxButtons.YesNo))
{
return;
}
}
try
{
log.Info("Cleanup last logfiles");
// cleanup from any previous sessions
if (comPort.logfile != null)
comPort.logfile.Close();
if (comPort.rawlogfile != null)
comPort.rawlogfile.Close();
}
catch (Exception ex)
{
CustomMessageBox.Show(Strings.ErrorClosingLogFile + ex.Message, Strings.ERROR);
}
comPort.logfile = null;
comPort.rawlogfile = null;
// decide if this is a connect or disconnect
if (comPort.BaseStream.IsOpen)
{
//fix for not recognizing when USB is pulled out - D Cironi
if (MenuConnect.Text == "DISCONNECT")
{
comPort.Close();
}
log.Info("We are disconnecting");
try
{
if (speechEngine != null) // cancel all pending speech
speechEngine.SpeakAsyncCancelAll();
comPort.BaseStream.DtrEnable = false;
comPort.Close();
}
catch (Exception ex)
{
log.Error(ex);
}
// now that we have closed the connection, cancel the connection stats
// so that the 'time connected' etc does not grow, but the user can still
// look at the now frozen stats on the still open form
try
{
// if terminal is used, then closed using this button.... exception
if (this.connectionStatsForm != null)
((ConnectionStats)this.connectionStatsForm.Controls[0]).StopUpdates();
}
catch { }
// refresh config window if needed
if (MyView.current != null)
{
if (MyView.current.Name == "HWConfig")
MyView.ShowScreen("HWConfig");
if (MyView.current.Name == "SWConfig")
MyView.ShowScreen("SWConfig");
}
try
{
System.Threading.ThreadPool.QueueUserWorkItem((WaitCallback)delegate
{
try
{
MissionPlanner.Log.LogSort.SortLogs(Directory.GetFiles(MainV2.LogDir, "*.tlog"));
}
catch { }
}
);
}
catch { }
this.MenuConnect.Image = global::MissionPlanner.Properties.Resources.light_connect_icon;
}
else
{
log.Info("We are connecting");
switch (_connectionControl.CMB_serialport.Text)
{
case "TCP":
comPort.BaseStream = new TcpSerial();
break;
case "UDP":
comPort.BaseStream = new UdpSerial();
break;
case "AUTO":
default:
comPort.BaseStream = new SerialPort();
break;
}
// Tell the connection UI that we are now connected.
_connectionControl.IsConnected(true);
// Here we want to reset the connection stats counter etc.
this.ResetConnectionStats();
MainV2.comPort.MAV.cs.ResetInternals();
//cleanup any log being played
comPort.logreadmode = false;
if (comPort.logplaybackfile != null)
comPort.logplaybackfile.Close();
comPort.logplaybackfile = null;
try
{
// do autoscan
if (_connectionControl.CMB_serialport.Text == "AUTO")
{
Comms.CommsSerialScan.Scan(false);
DateTime deadline = DateTime.Now.AddSeconds(50);
while (Comms.CommsSerialScan.foundport == false)
{
System.Threading.Thread.Sleep(100);
if (DateTime.Now > deadline)
{
CustomMessageBox.Show(Strings.Timeout);
_connectionControl.IsConnected(false);
return;
}
}
_connectionControl.CMB_serialport.Text = Comms.CommsSerialScan.portinterface.PortName;
_connectionControl.CMB_baudrate.Text = Comms.CommsSerialScan.portinterface.BaudRate.ToString();
}
log.Info("Set Portname");
// set port, then options
comPort.BaseStream.PortName = _connectionControl.CMB_serialport.Text;
log.Info("Set Baudrate");
try
{
comPort.BaseStream.BaudRate = int.Parse(_connectionControl.CMB_baudrate.Text);
}
catch (Exception exp)
{
log.Error(exp);
}
// prevent serialreader from doing anything
comPort.giveComport = true;
log.Info("About to do dtr if needed");
// reset on connect logic.
if (config["CHK_resetapmonconnect"] == null || bool.Parse(config["CHK_resetapmonconnect"].ToString()) == true)
{
log.Info("set dtr rts to false");
comPort.BaseStream.DtrEnable = false;
comPort.BaseStream.RtsEnable = false;
comPort.BaseStream.toggleDTR();
}
comPort.giveComport = false;
// setup to record new logs
try
{
Directory.CreateDirectory(MainV2.LogDir);
comPort.logfile = new BufferedStream(File.Open(MainV2.LogDir + Path.DirectorySeparatorChar + DateTime.Now.ToString("yyyy-MM-dd HH-mm-ss") + ".tlog", FileMode.CreateNew, FileAccess.ReadWrite, FileShare.None));
comPort.rawlogfile = new BufferedStream(File.Open(MainV2.LogDir + Path.DirectorySeparatorChar + DateTime.Now.ToString("yyyy-MM-dd HH-mm-ss") + ".rlog", FileMode.CreateNew, FileAccess.ReadWrite, FileShare.None));
log.Info("creating logfile " + DateTime.Now.ToString("yyyy-MM-dd HH-mm-ss") + ".tlog");
}
catch (Exception exp2) { log.Error(exp2); CustomMessageBox.Show(Strings.Failclog); } // soft fail
// reset connect time - for timeout functions
connecttime = DateTime.Now;
// do the connect
comPort.Open(false);
if (!comPort.BaseStream.IsOpen)
{
log.Info("comport is closed. existing connect");
try
{
_connectionControl.IsConnected(false);
UpdateConnectIcon();
comPort.Close();
}
catch { }
return;
}
// 3dr radio is hidden as no hb packet is ever emitted
if (comPort.sysidseen.Count > 1)
{
// we have more than one mav
// user selection of sysid
MissionPlanner.Controls.SysidSelector id = new SysidSelector();
id.ShowDialog();
}
comPort.getParamList();
//set hatch servo values based on parameter file -D Cironi 2015-03-02
if (comPort.MAV.cs.connected)
{
FlightData.servoOptions3.TXT_pwm_high.Text = comPort.GetParam("RC7_MAX").ToString();
FlightData.servoOptions3.TXT_pwm_low.Text = comPort.GetParam("RC7_MIN").ToString();
}
// detect firmware we are conected to.
if (comPort.MAV.cs.firmware == Firmwares.ArduCopter2)
{
_connectionControl.TOOL_APMFirmware.SelectedIndex = _connectionControl.TOOL_APMFirmware.Items.IndexOf(Firmwares.ArduCopter2);
}
else if (comPort.MAV.cs.firmware == Firmwares.Ateryx)
{
_connectionControl.TOOL_APMFirmware.SelectedIndex = _connectionControl.TOOL_APMFirmware.Items.IndexOf(Firmwares.Ateryx);
}
else if (comPort.MAV.cs.firmware == Firmwares.ArduRover)
{
_connectionControl.TOOL_APMFirmware.SelectedIndex = _connectionControl.TOOL_APMFirmware.Items.IndexOf(Firmwares.ArduRover);
}
else if (comPort.MAV.cs.firmware == Firmwares.ArduPlane)
{
_connectionControl.TOOL_APMFirmware.SelectedIndex = _connectionControl.TOOL_APMFirmware.Items.IndexOf(Firmwares.ArduPlane);
}
// check for newer firmware -Don't do this in our version -D Cironi 2015-05-13
//var softwares = Firmware.LoadSoftwares();
//if (softwares.Count > 0)
//{
// try
// {
// string[] fields1 = comPort.MAV.VersionString.Split(' ');
// foreach (Firmware.software item in softwares)
// {
// string[] fields2 = item.name.Split(' ');
// // check primare firmware type. ie arudplane, arducopter
// if (fields1[0] == fields2[0])
// {
// Version ver1 = VersionDetection.GetVersion(comPort.MAV.VersionString);
// Version ver2 = VersionDetection.GetVersion(item.name);
// if (ver2 > ver1)
// {
// Common.MessageShowAgain(Strings.NewFirmware, Strings.NewFirmwareA + item.name + Strings.Pleaseup);
// break;
// }
// // check the first hit only
// break;
// }
// }
// }
// catch (Exception ex) { log.Error(ex); }
//}
FlightData.CheckBatteryShow();
MissionPlanner.Utilities.Tracking.AddEvent("Connect", "Connect", comPort.MAV.cs.firmware.ToString(), comPort.MAV.param.Count.ToString());
MissionPlanner.Utilities.Tracking.AddTiming("Connect", "Connect Time", (DateTime.Now - connecttime).TotalMilliseconds, "");
MissionPlanner.Utilities.Tracking.AddEvent("Connect", "Baud", comPort.BaseStream.BaudRate.ToString(), "");
// save the baudrate for this port
config[_connectionControl.CMB_serialport.Text + "_BAUD"] = _connectionControl.CMB_baudrate.Text;
this.Text = titlebar + " " + comPort.MAV.VersionString;
// refresh config window if needed
if (MyView.current != null)
{
if (MyView.current.Name == "HWConfig")
MyView.ShowScreen("HWConfig");
if (MyView.current.Name == "SWConfig")
MyView.ShowScreen("SWConfig");
}
// load wps on connect option.
if (config["loadwpsonconnect"] != null && bool.Parse(config["loadwpsonconnect"].ToString()) == true)
{
// only do it if we are connected.
if (comPort.BaseStream.IsOpen)
{
MenuFlightPlanner_Click(null, null);
FlightPlanner.BUT_read_Click(null, null);
}
}
// set connected icon
this.MenuConnect.Image = displayicons.disconnect;
}
catch (Exception ex)
{
log.Warn(ex);
try
{
_connectionControl.IsConnected(false);
UpdateConnectIcon();
comPort.Close();
}
catch { }
CustomMessageBox.Show("Can not establish a connection\n\n" + ex.Message);
return;
}
}
}