/// <summary>
/// this constructor is used only for reading ardupilot mission files
/// </summary>
/// <param name="lw"></param>
internal Trackpoint(Locationwp lw)
: base(lw.lat, lw.lng, lw.alt)
{
trackpointState = TrackpointState.None;
number = lw.number;
id = (MAV_CMD)Enum.Parse(typeof(MAV_CMD), lw.id.ToString()); // command id
isHome = lw.ishome != 0;
coordinateFrameOption = lw.options == 1 ? CoordinateFrameOption.MAV_FRAME_GLOBAL_RELATIVE_ALT : CoordinateFrameOption.MAV_FRAME_GLOBAL;
// alt is in meters, can be above the ground (AGL) or above mean sea level (MSL), depending on coordinateFrameOption
geoPosition = new GeoPosition(lw.lng, lw.lat, lw.alt);
// p1-p4 are just float point numbers that can be added to waypoints and be interpreted by behaviors. We pass them all directly.
p1 = lw.p1;
p2 = lw.p2;
p3 = lw.p3;
p4 = lw.p4;
}
/// <summary>
/// this constructor is used only for reading mission files
/// </summary>
/// <param name="lw"></param>
internal Trackpoint(Locationwp lw)
: base(lw.lat, lw.lng, lw.alt)
{
trackpointState = TrackpointState.None;
number = lw.number;
id = (MAV_CMD)Enum.Parse(typeof(MAV_CMD), lw.id.ToString()); // command id
isHome = lw.ishome != 0;
coordinateFrameOption = lw.options == 1 ? CoordinateFrameOption.MAV_FRAME_GLOBAL_RELATIVE_ALT : CoordinateFrameOption.MAV_FRAME_GLOBAL;
// alt is in meters, can be above the ground (AGL) or above mean sea level (MSL), depending on coordinateFrameOption
geoPosition = new GeoPosition(lw.lng, lw.lat, lw.alt);
// p1-p4 are just float point numbers that can be added to waypoints and be interpreted by behaviors. We pass them all directly.
p1 = lw.p1;
p2 = lw.p2;
p3 = lw.p3;
p4 = lw.p4;
}
/// <summary>
/// see http://ardupilot.org/planner/docs/common-install-mission-planner.html for track planning utility
/// see C:\Program Files (x86)\APM Planner
/// see C:\Projects\Win10\Missions
/// (old) see C:\Projects\Robotics\DIY_Drones\ArduPlane-2.40\ArduPlane-2.40\Tools\ArdupilotMegaPlanner\GCSViews\FlightPlanner.cs line 1786, 1144
/// </summary>
/// <param name="missionFileName"></param>
private void readQGC110wpfile()
{
int wp_count = 0;
bool error = false;
string identLine = "QGC WPL 110";
Debug.WriteLine("IP: readQGC110wpfile() missionFileName=" + trackFileName);
try
{
using (FileStream fs = new FileStream(trackFileName, FileMode.Open, FileAccess.Read))
{
using (StreamReader sr = new StreamReader(fs))
{
string header = sr.ReadLine();
if (header == null || !header.Contains(identLine))
{
Debug.WriteLine("Invalid Waypoint file '" + trackFileName + "' - must contain first line '" + identLine + "'");
return;
}
System.Globalization.CultureInfo cultureInfo = new System.Globalization.CultureInfo("en-US");
while (!error && !sr.EndOfStream)
{
string line = sr.ReadLine();
// trackpoints
if (line.StartsWith("#"))
{
continue;
}
string[] items = line.Split(new char[] { (char)'\t', ' ' }, StringSplitOptions.RemoveEmptyEntries);
if (items.Length <= 9)
{
continue;
}
try
{
Locationwp temp = new Locationwp();
temp.number = int.Parse(items[0]);
temp.ishome = byte.Parse(items[1]);
if (items[2] == "3")
{
// normally altitute is above mean sea level (MSL), or relative to ground (AGL) when MAV_FRAME_GLOBAL_RELATIVE_ALT=3
temp.options = 1;
}
else
{
temp.options = 0;
}
temp.id = (byte)(int)Enum.Parse(typeof(MAV_CMD), items[3], false);
temp.p1 = float.Parse(items[4], cultureInfo);
if (temp.id == 99)
{
temp.id = 0;
}
temp.alt = (float)(double.Parse(items[10], cultureInfo));
temp.lat = (float)(double.Parse(items[8], cultureInfo));
temp.lng = (float)(double.Parse(items[9], cultureInfo));
temp.p2 = (float)(double.Parse(items[5], cultureInfo));
temp.p3 = (float)(double.Parse(items[6], cultureInfo));
temp.p4 = (float)(double.Parse(items[7], cultureInfo));
trackpoints.Add(new Trackpoint(temp));
wp_count++;
}
catch { Debug.WriteLine("Error: Line invalid: " + line); }
if (wp_count == byte.MaxValue)
{
Debug.WriteLine("Error: Too many trackpoints!!! - limited to " + byte.MaxValue);
break;
}
}
}
}
Debug.WriteLine("OK: readQGC110wpfile() done, waypoint count=" + trackpoints.Count);
}
catch (Exception ex)
{
Debug.WriteLine("Error: Can't open file: '" + trackFileName + "'" + ex.ToString());
throw;
}
}
/// <summary>
/// see http://ardupilot.org/planner/docs/common-install-mission-planner.html for track planning utility
/// see C:\Program Files (x86)\APM Planner
/// see C:\Projects\Win10\Missions
/// (old) see C:\Projects\Robotics\DIY_Drones\ArduPlane-2.40\ArduPlane-2.40\Tools\ArdupilotMegaPlanner\GCSViews\FlightPlanner.cs line 1786, 1144
/// </summary>
/// <param name="missionFileName"></param>
private void readQGC110wpfile()
{
int wp_count = 0;
bool error = false;
string identLine = "QGC WPL 110";
Debug.WriteLine("IP: readQGC110wpfile() missionFileName=" + trackFileName);
try
{
using (FileStream fs = new FileStream(trackFileName, FileMode.Open, FileAccess.Read))
{
using (StreamReader sr = new StreamReader(fs))
{
string header = sr.ReadLine();
if (header == null || !header.Contains(identLine))
{
Debug.WriteLine("Invalid Waypoint file '" + trackFileName + "' - must contain first line '" + identLine + "'");
return;
}
System.Globalization.CultureInfo cultureInfo = new System.Globalization.CultureInfo("en-US");
while (!error && !sr.EndOfStream)
{
string line = sr.ReadLine();
// trackpoints
if (line.StartsWith("#"))
continue;
string[] items = line.Split(new char[] { (char)'\t', ' ' }, StringSplitOptions.RemoveEmptyEntries);
if (items.Length <= 9)
continue;
try
{
Locationwp temp = new Locationwp();
temp.number = int.Parse(items[0]);
temp.ishome = byte.Parse(items[1]);
if (items[2] == "3")
{
// normally altitute is above mean sea level (MSL), or relative to ground (AGL) when MAV_FRAME_GLOBAL_RELATIVE_ALT=3
temp.options = 1;
}
else
{
temp.options = 0;
}
temp.id = (byte)(int)Enum.Parse(typeof(MAV_CMD), items[3], false);
temp.p1 = float.Parse(items[4], cultureInfo);
if (temp.id == 99)
temp.id = 0;
temp.alt = (float)(double.Parse(items[10], cultureInfo));
temp.lat = (float)(double.Parse(items[8], cultureInfo));
temp.lng = (float)(double.Parse(items[9], cultureInfo));
temp.p2 = (float)(double.Parse(items[5], cultureInfo));
temp.p3 = (float)(double.Parse(items[6], cultureInfo));
temp.p4 = (float)(double.Parse(items[7], cultureInfo));
trackpoints.Add(new Trackpoint(temp));
wp_count++;
}
catch { Debug.WriteLine("Error: Line invalid: " + line); }
if (wp_count == byte.MaxValue)
{
Debug.WriteLine("Error: Too many trackpoints!!! - limited to " + byte.MaxValue);
break;
}
}
}
}
Debug.WriteLine("OK: readQGC110wpfile() done, waypoint count=" + trackpoints.Count);
}
catch (Exception ex)
{
Debug.WriteLine("Error: Can't open file: '" + trackFileName + "'" + ex.ToString());
throw;
}
}
