// Logowanie do serwera sędziów
private void buttonLogin_Click(object sender, EventArgs e)
{
string url = textBoxURL.Text;
interopURL = url; // Tylko ponowne zalogowanie zmienia url serwera
string uri = "/api/login";
string username = textBoxUsername.Text;
string password = textBoxPassword.Text;
string myParameters = "username="******"&" + "password="******"application/x-www-form-urlencoded"; // Potrzebne
string httpResult = wc.UploadString(uri, myParameters);
cookies = wc.CookieContainer; // Zapisuje otrzymane cookies
textBoxHTTPResult.Text = httpResult;
zalogowano = true;
// textBoxHTTPResult.Text += "\nCookies: " + cookies.GetCookieHeader(new Uri(url + uri)); // Wyświetla cookies
}
}
// Wyslanie telemetrii
private void buttonWysylajTelemetrie_Click(object sender, EventArgs e)
{
Thread myThread = new Thread(() =>
{
int cnt = 10;
Thread.CurrentThread.IsBackground = true;
string url = interopURL;
string uri = "/api/telemetry";
string httpResult = "Error: Bad URL or not logged in";
double latitude, longitude, altitude, course;
while (true)
{
latitude = plugin.Host.cs.lat;
longitude = plugin.Host.cs.lng;
altitude = plugin.Host.cs.alt;
course = plugin.Host.cs.groundcourse;
string myParameters = "latitude=" + latitude.ToString(System.Globalization.CultureInfo.InvariantCulture) + "&" + // Kropki zamiast przecinków
"longitude=" + longitude.ToString(System.Globalization.CultureInfo.InvariantCulture) + "&" + // Kropki zamiast przecinków
"altitude_msl=" + altitude.ToString(System.Globalization.CultureInfo.InvariantCulture) + "&" + // Kropki zamiast przecinków
"uas_heading=" + course.ToString(System.Globalization.CultureInfo.InvariantCulture); // Kropki zamiast przecinków
using (CookieWebClient wc = new CookieWebClient(cookies))
{
try
{
wc.BaseAddress = url;
wc.Headers[HttpRequestHeader.ContentType] = "application/x-www-form-urlencoded"; // Za każdym razem trzeba dodać
httpResult = wc.UploadString(uri, myParameters);
}
catch (WebException)
{
telemetryThreadStop = true;
}
catch (Exception ex)
{
telemetryThreadStop = true;
}
}
cnt++;
if (cnt >= 10) // Co dziesiąte wysłanie telemetri wyświetla komunikat
{
cnt = 0;
this.Invoke(new MethodInvoker(delegate()
{
updateTextBoxTelem(httpResult);
}));
}
if (telemetryThreadStop)
{
break; // Kończy wątek
}
}
});
if (buttonWysylajTelemetrie.Text == "START Telemetria")
{
if (myThread.IsAlive == true)
{
return;
}
buttonWysylajTelemetrie.Text = "STOP Telemetria";
buttonWysylajTelemetrie.BackColor = Color.Red;
telemetryThreadStop = false;
myThread.Start();
}
else if (buttonWysylajTelemetrie.Text == "STOP Telemetria")
{
buttonWysylajTelemetrie.Text = "START Telemetria";
buttonWysylajTelemetrie.BackColor = Color.Green;
telemetryThreadStop = true;
}
}
// Wyświetla przeszkody ruchome
private void buttonWyswietlPrzeszkodyRuchome_Click(object sender, EventArgs e) // Korzysta z cookies, zapisanych przy logowaniu
{
Thread myThread = new Thread(() =>
{
Thread.CurrentThread.IsBackground = true;
string url = interopURL;
string uri = "/api/obstacles";
string httpResult = "Error: Bad URL or not logged in";
while (true)
{
using (CookieWebClient wc = new CookieWebClient(cookies))
{
try
{
wc.BaseAddress = url;
httpResult = wc.DownloadString(uri);
// dynamic obstacles = JsonConvert.DeserializeObject(httpResult);
// Dane do testów bez konieczności łączenia z serwerem
string jsonDataObstacles = "{'stationary_obstacles': [{'latitude': 38.14792, 'cylinder_height': 200.0, 'cylinder_radius': 150.0, 'longitude': -76.427995}, {'latitude': 38.145823, 'cylinder_height': 300.0, 'cylinder_radius': 50.0, 'longitude': -76.422396}], 'moving_obstacles': [{'latitude': 38.14231360808151, 'sphere_radius': 50.0, 'altitude_msl': 269.53771210358616, 'longitude': -76.42518343430758}]}";
dynamic obstacles = JsonConvert.DeserializeObject(jsonDataObstacles);
foreach (var movingObstacle in obstacles.moving_obstacles)
{
double lat = movingObstacle.latitude;
double lng = movingObstacle.longitude;
double alt = movingObstacle.altitude_msl;
double radiusMeters = movingObstacle.sphere_radius;
double radius = movingObstacle.sphere_radius / 111200.0;
double aspect = 1.271438; // Stosunek 1m szerok. geograf do 1m dł geograficznej
List <PointLatLng> gpollist = new List <PointLatLng>();
int segments = 15;
double seg = Math.PI * 2 / segments;
for (int i = 0; i < segments; i++)
{
double theta = seg * i;
double a = lat + Math.Cos(theta) * radius;
double b = lng + Math.Sin(theta) * radius * aspect;
PointLatLng gpoi = new PointLatLng(a, b);
gpollist.Add(gpoi);
}
GMapPolygon gpol = new GMapPolygon(gpollist, "pol");
gpol.Fill = new SolidBrush(Color.FromArgb(50, Color.Yellow));
gpol.Stroke = new Pen(Color.Yellow, 1);
movingObstaclesOverlay.Polygons.Add(gpol);
GMarkerGoogle marker = new GMarkerGoogle(new PointLatLng(lat, lng), GMarkerGoogleType.blue);
myMarkersOverlay.Markers.Add(marker);
marker.ToolTipMode = MarkerTooltipMode.Always;
marker.ToolTip = new GMapRoundedToolTip(marker);
marker.ToolTipText = ((int)alt - radiusMeters / 2).ToString() + "-" + ((int)alt + radiusMeters / 2).ToString() + "msl";
}
}
catch (WebException)
{
ruchomePrzeszkodyThreadStop = true;
}
catch (Exception ex)
{
ruchomePrzeszkodyThreadStop = true;
}
}
if (ruchomePrzeszkodyThreadStop)
{
break; // Kończy wątek
}
Thread.Sleep(1000); // Czeka
}
});
if (buttonWyswietlPrzeszkodyRuchome.Text == "START Ruchome Przeszkody")
{
if (myThread.IsAlive == true)
{
return;
}
buttonWyswietlPrzeszkodyRuchome.Text = "STOP Ruchome Przeszkody";
buttonWyswietlPrzeszkodyRuchome.BackColor = Color.Red;
ruchomePrzeszkodyThreadStop = false;
myThread.Start();
}
else if (buttonWyswietlPrzeszkodyRuchome.Text == "STOP Ruchome Przeszkody")
{
buttonWyswietlPrzeszkodyRuchome.Text = "START Ruchome Przeszkody";
buttonWyswietlPrzeszkodyRuchome.BackColor = Color.Green;
ruchomePrzeszkodyThreadStop = true;
}
}
