private void addpolygonmarker(string tag, double lng, double lat, int alt, Color?color, GMapOverlay overlay)
{
try
{
PointLatLng point = new PointLatLng(lat, lng);
GMapMarkerGoogleGreen m = new GMapMarkerGoogleGreen(point);
m.ToolTipMode = MarkerTooltipMode.Always;
m.ToolTipText = tag;
m.Tag = tag;
GMapMarkerRect mBorders = new GMapMarkerRect(point);
{
mBorders.InnerMarker = m;
try
{
mBorders.wprad = (int)(float.Parse(ArdupilotMega.MainV2.config["TXT_WPRad"].ToString()) / MainV2.comPort.MAV.cs.multiplierdist);
}
catch { }
//mBorders.MainMap = MainMap;
if (color.HasValue)
{
mBorders.Color = color.Value;
}
}
overlay.Markers.Add(m);
overlay.Markers.Add(mBorders);
}
catch (Exception) { }
}
// add marker on current position
private void button4_Click(object sender, EventArgs e)
{
GMapMarker m = new GMapMarkerGoogleGreen(currentMarker.Position);
GMapMarkerRect mBorders = new GMapMarkerRect(currentMarker.Position);
mBorders.Size = new System.Drawing.Size(100, 100);
//Placemark p = null;
//if (checkBoxPlacemarkInfo.Checked)
//{
// p = GMaps.Instance.GetPlacemarkFromGeocoder(currentMarker.Position);
//}
//if (p != null)
//{
// mBorders.ToolTipText = p.Address;
//}
//else
//{
// mBorders.ToolTipText = currentMarker.Position.ToString();
//}
objects.Markers.Add(m);
objects.Markers.Add(mBorders);
}
// click on some marker 我现在不知道这些功能
void MainMap_OnMarkerClick(GMapMarker item, MouseEventArgs e)
{
if (e.Button == System.Windows.Forms.MouseButtons.Left)
{
if (item is GMapMarkerRect)
{
GeoCoderStatusCode status;
var pos = GMapProviders.GoogleMap.GetPlacemark(item.Position, out status);
if (status == GeoCoderStatusCode.G_GEO_SUCCESS && pos != null)
{
GMapMarkerRect v = item as GMapMarkerRect;
{
v.ToolTipText = pos.Value.Address;
}
MainMap1.Invalidate(false);
}
}
else
{
if (item.Tag != null)
{
if (currentTransport != null)
{
currentTransport.ToolTipMode = MarkerTooltipMode.OnMouseOver;
currentTransport = null;
}
currentTransport = item;
currentTransport.ToolTipMode = MarkerTooltipMode.Always;
}
}
}
}
// add demo circle
void MainMap_MouseDoubleClick(object sender, MouseEventArgs e)
{
//string constring = "datasource=" + metroTextBox1.Text + ";database=" + metroTextBox2.Text + ";username="******";password="******";port=" + Convert.ToInt32(metroTextBox5.Text);
//string constring = "datasource=" + metroTextBox1.Text + ";username="******";password="******";port=" + Convert.ToInt32(metroTextBox5.Text);
GMarkerGoogle m = new GMarkerGoogle(currentMarker.Position, GMarkerGoogleType.yellow);
GMapMarkerRect mBorders = new GMapMarkerRect(currentMarker.Position);
{
mBorders.InnerMarker = m;
if (polygon != null)
{
// mBorders.Tag = polygon.Points.Count;
}
mBorders.ToolTipMode = MarkerTooltipMode.OnMouseOver;
}
Placemark?p = null;
//if (checkBoxPlacemarkInfo.Checked)
//{
//mBorders.ToolTipText = currentMarker.Position.ToString();
mBorders.ToolTipText = "ha";
string Query = "insert into " + metroTextBox2.Text + ".maptable (No,Name,Lattitude,Longitude) values ('2','" + metroTextBox6.Text + "','" + Convert.ToString(currentMarker.Position.Lat) + "','" + Convert.ToString(currentMarker.Position.Lng) + "');";
//MySqlConnection conDataBase = new MySqlConnection(constring);
//MySqlCommand cmdDataBase = new MySqlCommand(Query, conData Base);
objects.Markers.Add(m);
objects.Markers.Add(mBorders);
MainMap.Overlays.Add(objects);
//var cc = new GMapMarkerCircle(MainMap.FromLocalToLatLng(e.X, e.Y));
//objects.Markers.Add(cc);
}
private void addpolygonmarkerred(string tag, double lng, double lat, int alt, Color?color, GMapOverlay overlay)
{
try
{
PointLatLng point = new PointLatLng(lat, lng);
GMarkerGoogle m = new GMarkerGoogle(point, GMarkerGoogleType.red);
m.ToolTipMode = MarkerTooltipMode.Always;
m.ToolTipText = tag;
m.Tag = tag;
GMapMarkerRect mBorders = new GMapMarkerRect(point);
{
mBorders.InnerMarker = m;
}
Invoke((Action) delegate
{
overlay.Markers.Add(m);
overlay.Markers.Add(mBorders);
});
}
catch (Exception)
{
}
}
/// <summary>
/// used to add a marker to the map display
/// </summary>
/// <param name="tag"></param>
/// <param name="lng"></param>
/// <param name="lat"></param>
/// <param name="alt"></param>
/// <param name="color"></param>
private void addpolygonmarker(string tag, double lng, double lat, double?alt, Color?color, double wpradius, MAVLink.MAV_MISSION_TYPE type = MAVLink.MAV_MISSION_TYPE.MISSION, Color?fillcolor = null)
{
try
{
PointLatLng point = new PointLatLng(lat, lng);
GMapMarker m = null;
if (type == MAVLink.MAV_MISSION_TYPE.MISSION)
{
m = new GMapMarkerWP(point, tag);
if (alt.HasValue)
{
m.ToolTipMode = MarkerTooltipMode.OnMouseOver;
m.ToolTipText = "Alt: " + alt.Value.ToString("0");
}
m.Tag = tag;
}
else if (type == MAVLink.MAV_MISSION_TYPE.FENCE)
{
m = new GMarkerGoogle(point, GMarkerGoogleType.blue_dot);
m.Tag = tag;
}
else if (type == MAVLink.MAV_MISSION_TYPE.RALLY)
{
m = new GMapMarkerRallyPt(point);
if (alt.HasValue)
{
m.ToolTipMode = MarkerTooltipMode.OnMouseOver;
m.ToolTipText = "Alt: " + alt.Value.ToString("0");
}
m.Tag = tag;
}
//MissionPlanner.GMapMarkerRectWPRad mBorders = new MissionPlanner.GMapMarkerRectWPRad(point, (int)float.Parse(TXT_WPRad.Text), MainMap);
GMapMarkerRect mBorders = new GMapMarkerRect(point);
{
mBorders.InnerMarker = m;
mBorders.Tag = tag;
mBorders.wprad = (int)wpradius;
if (color.HasValue)
{
mBorders.Color = color.Value;
}
if (fillcolor.HasValue)
{
mBorders.FillColor = fillcolor.Value;
}
}
overlay.Markers.Add(m);
overlay.Markers.Add(mBorders);
}
catch (Exception)
{
}
}
void MainMap_OnMarkerLeave(GMapMarker item)
{
if (item is GMapMarkerRect)
{
CurentRectMarker = null;
GMapMarkerRect rc = item as GMapMarkerRect;
rc.Pen.Color = Color.Blue;
Debug.WriteLine("OnMarkerLeave: " + item.Position);
}
}
void MainMap_OnMarkerEnter(GMapMarker item)
{
if (item is GMapMarkerRect)
{
GMapMarkerRect rc = item as GMapMarkerRect;
rc.Pen.Color = Color.Red;
CurentRectMarker = rc;
Debug.WriteLine("OnMarkerEnter: " + item.Position);
}
}
// key-up events
void MainForm_KeyUp(object sender, GUI.KeyEventArgs e)
{
int offset = -22;
if (e.KeyCode == GUI.Keys.Left)
{
MainMap.Offset(-offset, 0);
}
else if (e.KeyCode == GUI.Keys.Right)
{
MainMap.Offset(offset, 0);
}
else if (e.KeyCode == GUI.Keys.Up)
{
MainMap.Offset(0, -offset);
}
else if (e.KeyCode == GUI.Keys.Down)
{
MainMap.Offset(0, offset);
}
else if (e.KeyCode == GUI.Keys.Delete)
{
if (currentPolygon != null)
{
polygons.Polygons.Remove(currentPolygon);
currentPolygon = null;
}
if (currentRoute != null)
{
routes.Routes.Remove(currentRoute);
currentRoute = null;
}
if (CurentRectMarker != null)
{
objects.Markers.Remove(CurentRectMarker);
if (CurentRectMarker.InnerMarker != null)
{
objects.Markers.Remove(CurentRectMarker.InnerMarker);
}
CurentRectMarker = null;
RegeneratePolygon();
}
}
else if (e.KeyCode == GUI.Keys.Escape)
{
MainMap.Bearing = 0;
}
}
void gmap_OnMarkerLeave(GMapMarker item)
{
if (!isMouseDown)
{
if (item is GMapMarkerRect)
{
CurentRectMarker = null;
GMapMarkerRect rc = item as GMapMarkerRect;
rc.Pen.Color = Color.Blue;
gmap.Invalidate(false);
}
}
}
void gmap_OnMarkerEnter(GMapMarker item)
{
if (!isMouseDown)
{
if (item is GMapMarkerRect)
{
GMapMarkerRect rc = item as GMapMarkerRect;
rc.Pen.Color = Color.Red;
gmap.Invalidate(false);
CurentRectMarker = rc;
}
}
}
void MainMap_OnMarkerEnter(GMapMarker item)
{
metroTextBox10.Text = Convert.ToString(item.Position.Lat);
metroTextBox11.Text = Convert.ToString(item.Position.Lng);
/*string constring = "datasource=" + metroTextBox1.Text + ";database=" + metroTextBox2.Text + ";username="******";password="******";port=" + Convert.ToInt32(metroTextBox5.Text);
* MySqlConnection conDataBase = new MySqlConnection(constring);
* //MySqlCommand cmdDataBase = new MySqlCommand("select id,name,age from database.edata ;", conDataBase);
* MySqlCommand cmdDataBase = new MySqlCommand("select * from mapdatabase.maptable where Latitude='" + metroTextBox10.Text + "' AND Longitude='"+metroTextBox11.Text , conDataBase);
* MySqlDataReader myReader;
* try
* {
* conDataBase.Open();
* myReader = cmdDataBase.ExecuteReader();
* metroLabel7.Text = dataGridView1.RowCount.ToString();
* int count = 0;
* while (myReader.Read())
* count = count + 1;
*
* if (count == 1)
* {
* GMarkerGoogle m = new GMarkerGoogle(currentMarker.Position, GMarkerGoogleType.yellow);
* GMapMarkerRect mBorders = new GMapMarkerRect(currentMarker.Position);
* {
* mBorders.InnerMarker = m;
* mBorders.ToolTipMode = MarkerTooltipMode.OnMouseOver;
* }
* mBorders.ToolTipText = myReader[1].ToString();
* }
* else if (count > 1)
* MessageBox.Show("Access denied, duplicate username");
* else
* MessageBox.Show("Data isn't Found");
* }
* catch
* {
*
* }*/
if (item is GMapMarkerRect)
{
GMapMarkerRect rc = item as GMapMarkerRect;
rc.Pen.Color = Color.Red;
CurentRectMarker = rc;
}
//Debug.WriteLine("OnMarkerEnter: " + item.Position);
}
private void MapControl_OnRouteEnter(GMapRoute item)
{
if (marker != null)
{
item.Overlay.Markers.Remove(marker);
}
var point = item.Overlay.Control.PointToClient(Control.MousePosition);
var pos = item.Overlay.Control.FromLocalToLatLng(point.X, point.Y);
marker = new GMapMarkerRect(pos)
{
ToolTipMode = MarkerTooltipMode.Always, ToolTipText = createMessage(item.Tag), IsHitTestVisible = false
};
item.Overlay.Markers.Add(marker);
}
// click on some marker
void MainMap_OnMarkerClick(GMapMarker item, Alt.GUI.MouseEventArgs e)
{
if (e.Button == Alt.GUI.MouseButtons.Left)
{
if (item is GMapMarkerRect)
{
GeoCoderStatusCode status;
var pos = GMapProviders.GoogleMap.GetPlacemark(item.Position, out status);
if (status == GeoCoderStatusCode.G_GEO_SUCCESS && pos != null)
{
GMapMarkerRect v = item as GMapMarkerRect;
{
v.ToolTipText = pos.Value.Address;
}
MainMap.Invalidate();//TEMP false);
}
}
}
}
/// <summary>
/// adds marker using geocoder
/// </summary>
/// <param name="place"></param>
void AddLocationLithuania(string place)
{
GeoCoderStatusCode status = GeoCoderStatusCode.Unknow;
PointLatLng? pos = GMapProviders.GoogleMap.GetPoint("Lithuania, " + place, out status);
if (pos != null && status == GeoCoderStatusCode.G_GEO_SUCCESS)
{
GMarkerGoogle m = new GMarkerGoogle(pos.Value, GMarkerGoogleType.green);
m.ToolTip = new GMapRoundedToolTip(m);
GMapMarkerRect mBorders = new GMapMarkerRect(pos.Value);
{
mBorders.InnerMarker = m;
mBorders.ToolTipText = place;
mBorders.ToolTipMode = MarkerTooltipMode.Always;
}
objects.Markers.Add(m);
objects.Markers.Add(mBorders);
}
}
// add marker on current position
void button4_Click(object sender, EventArgs e)
{
GMarkerGoogle m = new GMarkerGoogle(currentMarker.Position, GMarkerGoogleType.green_pushpin);
GMapMarkerRect mBorders = new GMapMarkerRect(currentMarker.Position);
{
mBorders.InnerMarker = m;
if (polygon != null)
{
mBorders.Tag = polygon.Points.Count;
}
mBorders.ToolTipMode = MarkerTooltipMode.Always;
}
Placemark?p = null;
if (checkBoxPlacemarkInfo.IsChecked)
{
GeoCoderStatusCode status;
var ret = GMapProviders.GoogleMap.GetPlacemark(currentMarker.Position, out status);
if (status == GeoCoderStatusCode.G_GEO_SUCCESS && ret != null)
{
p = ret;
}
}
if (p != null)
{
mBorders.ToolTipText = p.Value.Address;
}
else
{
mBorders.ToolTipText = currentMarker.Position.ToString();
}
objects.Markers.Add(m);
objects.Markers.Add(mBorders);
RegeneratePolygon();
}
/// <summary>
/// used to add a marker to the map display
/// </summary>
/// <param name="tag"></param>
/// <param name="lng"></param>
/// <param name="lat"></param>
/// <param name="alt"></param>
/// <param name="color"></param>
private void addpolygonmarker(string tag, double lng, double lat, double alt, Color?color, double wpradius)
{
try
{
PointLatLng point = new PointLatLng(lat, lng);
GMapMarkerWP m = new GMapMarkerWP(point, tag);
m.ToolTipMode = MarkerTooltipMode.OnMouseOver;
m.ToolTipText = "Alt: " + alt.ToString("0");
m.Tag = tag;
int wpno = -1;
if (int.TryParse(tag, out wpno))
{
// preselect groupmarker
//if (groupmarkers.Contains(wpno))
//m.selected = true;
}
//MissionPlanner.GMapMarkerRectWPRad mBorders = new MissionPlanner.GMapMarkerRectWPRad(point, (int)float.Parse(TXT_WPRad.Text), MainMap);
GMapMarkerRect mBorders = new GMapMarkerRect(point);
{
mBorders.InnerMarker = m;
mBorders.Tag = tag;
mBorders.wprad = (int)wpradius;
if (color.HasValue)
{
mBorders.Color = color.Value;
}
}
overlay.Markers.Add(m);
overlay.Markers.Add(mBorders);
}
catch (Exception)
{
}
}
private void addpolygonmarker(string tag, double lng, double lat, int alt, Color?color, GMapOverlay overlay)
{
try
{
PointLatLng point = new PointLatLng(lat, lng);
GMarkerGoogle m = new GMarkerGoogle(point, GMarkerGoogleType.green);
m.ToolTipMode = MarkerTooltipMode.Always;
m.ToolTipText = tag;
m.Tag = tag;
GMapMarkerRect mBorders = new GMapMarkerRect(point);
{
mBorders.InnerMarker = m;
try
{
mBorders.wprad =
(int)(Settings.Instance.GetFloat("TXT_WPRad") / CurrentState.multiplierdist);
}
catch
{
}
if (color.HasValue)
{
mBorders.Color = color.Value;
}
}
Invoke((Action) delegate
{
overlay.Markers.Add(m);
overlay.Markers.Add(mBorders);
});
}
catch (Exception)
{
}
}
private void addpolygonmarkergrid(string tag, double lng, double lat, int alt)
{
try
{
PointLatLng point = new PointLatLng(lat, lng);
GMarkerGoogle m = new GMarkerGoogle(point, GMarkerGoogleType.red);
m.ToolTipMode = MarkerTooltipMode.Never;
m.ToolTipText = "grid" + tag;
m.Tag = "grid" + tag;
//MissionPlanner.GMapMarkerRectWPRad mBorders = new MissionPlanner.GMapMarkerRectWPRad(point, (int)float.Parse(TXT_WPRad.Text), MainMap);
GMapMarkerRect mBorders = new GMapMarkerRect(point);
{
mBorders.InnerMarker = m;
}
drawnpolygonsoverlay.Markers.Add(m);
drawnpolygonsoverlay.Markers.Add(mBorders);
}
catch (Exception ex)
{
// log.Info(ex.ToString());
}
}
// key-up events
private void MainForm_KeyUp(object sender, KeyEventArgs e)
{
int offset = -22;
if (e.KeyCode == Keys.Left)
{
MainMap.Offset(-offset, 0);
}
else if (e.KeyCode == Keys.Right)
{
MainMap.Offset(offset, 0);
}
else if (e.KeyCode == Keys.Up)
{
MainMap.Offset(0, -offset);
}
else if (e.KeyCode == Keys.Down)
{
MainMap.Offset(0, offset);
}
else if (e.KeyCode == Keys.Delete)
{
if (currentPolygon != null)
{
polygons.Polygons.Remove(currentPolygon);
currentPolygon = null;
}
if (currentRoute != null)
{
routes.Routes.Remove(currentRoute);
currentRoute = null;
}
if (CurentRectMarker != null)
{
objects.Markers.Remove(CurentRectMarker);
if (CurentRectMarker.InnerMarker != null)
{
objects.Markers.Remove(CurentRectMarker.InnerMarker);
}
CurentRectMarker = null;
//RegeneratePolygon();
}
}
else if (e.KeyCode == Keys.Escape)
{
MainMap.Bearing = 0;
}
}
void MainMap_OnMarkerLeave(GMapMarker item)
{
if (item is GMapMarkerRect)
{
CurentRectMarker = null;
GMapMarkerRect rc = item as GMapMarkerRect;
rc.Pen.Color = Color.Blue;
// Debug.WriteLine("OnMarkerLeave: " + item.Position);
}
}
void MainMap_MouseUp(object sender, MouseEventArgs e)
{
//在规划模式下生效
if (isPlanMode)
{
if (isMouseClickOffMenu)
{
isMouseClickOffMenu = false;
return;
}
MouseDownEnd = gMapControl1.FromLocalToLatLng(e.X, e.Y);
if (e.Button == MouseButtons.Right)
{
return;
}
if (isMouseDown)
{
if (e.Button == MouseButtons.Left)
isMouseDown = false;
if (ModifierKeys == Keys.Control)
{
// group select wps
GMapPolygon poly = new GMapPolygon(new List<PointLatLng>(), "temp");
poly.Points.Add(MouseDownStart);
poly.Points.Add(new PointLatLng(MouseDownStart.Lat, MouseDownEnd.Lng));
poly.Points.Add(MouseDownEnd);
poly.Points.Add(new PointLatLng(MouseDownEnd.Lat, MouseDownStart.Lng));
foreach (var marker in objectsoverlay.Markers)
{
if (poly.IsInside(marker.Position))
{
try
{
if (marker.Tag != null)
{
groupmarkeradd(marker);
}
}
catch { }
}
}
isMouseDraging = false;
return;
}
}
if (!isMouseDraging)
{
if (CurentRectMarker != null)
{
}
else
{
AddWPToMap(currentMarker.Position.Lat, currentMarker.Position.Lng, 0);
}
}
else
{
if (groupmarkers.Count > 0)
{
Dictionary<string, PointLatLng> dest = new Dictionary<string, PointLatLng>();
foreach (var markerid in groupmarkers)
{
for (int a = 0; a < objectsoverlay.Markers.Count; a++)
{
var marker = objectsoverlay.Markers[a];
if (marker.Tag != null && marker.Tag.ToString() == markerid.ToString())
{
dest[marker.Tag.ToString()] = marker.Position;
break;
}
}
}
foreach (KeyValuePair<string, PointLatLng> item in dest)
{
var value = item.Value;
callMeDrag(item.Key, value.Lat, value.Lng, -1);
}
gMapControl1.SelectedArea = RectLatLng.Empty;
groupmarkers.Clear();
// redraw to remove selection
writeKML();
CurentRectMarker = null;
}
if (CurentRectMarker != null)
{
if (CurentRectMarker.InnerMarker.Tag.ToString().Contains("grid"))
{
try
{
drawnpolygon.Points[int.Parse(CurentRectMarker.InnerMarker.Tag.ToString().Replace("grid", "")) - 1] = new PointLatLng(MouseDownEnd.Lat, MouseDownEnd.Lng);
gMapControl1.UpdatePolygonLocalPosition(drawnpolygon);
gMapControl1.Invalidate();
}
catch { }
}
else
{
callMeDrag(CurentRectMarker.InnerMarker.Tag.ToString(), currentMarker.Position.Lat, currentMarker.Position.Lng, -1);
}
CurentRectMarker = null;
}
}
}
isMouseDraging = false;
}
void MainMap_OnMarkerLeave(GMapMarker item)
{
if (!isMouseDown)
{
if (item is GMapMarkerRect)
{
CurentRectMarker = null;
GMapMarkerRect rc = item as GMapMarkerRect;
rc.ResetColor();
gMapControl1.Invalidate(false);
}
if (item is GMapMarkerRallyPt)
{
CurrentRallyPt = null;
}
if (item is GMapMarker)
{
// when you click the context menu this triggers and causes problems
CurrentGMapMarker = null;
}
}
}
/// <summary>
/// used to add a marker to the map display
/// </summary>
/// <param name="tag"></param>
/// <param name="lng"></param>
/// <param name="lat"></param>
/// <param name="alt"></param>
private void addpolygonmarker(string tag, double lng, double lat, int alt, Color? color)
{
try
{
PointLatLng point = new PointLatLng(lat, lng);
GMapMarkerWP m = new GMapMarkerWP(point, tag);
m.ToolTipMode = MarkerTooltipMode.OnMouseOver;
m.ToolTipText = "高度: " + alt.ToString("0");
m.Tag = tag;
try
{
// preselect groupmarker
if (groupmarkers.Count > 0)
if (groupmarkers.Contains(int.Parse(tag)))
m.selected = true;
}
catch { }
//MissionPlanner.GMapMarkerRectWPRad mBorders = new MissionPlanner.GMapMarkerRectWPRad(point, (int)float.Parse(TXT_WPRad.Text), MainMap);
GMapMarkerRect mBorders = new GMapMarkerRect(point);
{
mBorders.InnerMarker = m;
mBorders.Tag = tag;
//隐藏到达航点半径
//mBorders.wprad = (int)(float.Parse(TXT_WPRad.Text) / CurrentState.multiplierdist);
if (color.HasValue)
{
mBorders.Color = color.Value;
}
}
objectsoverlay.Markers.Add(m);
objectsoverlay.Markers.Add(mBorders);
}
catch (Exception) { }
}
public void CreateOverlay(PointLatLngAlt home, List <Locationwp> missionitems, double wpradius, double loiterradius, double altunitmultiplier)
{
overlay.Clear();
GMapPolygon fencepoly = null;
double maxlat = -180;
double maxlong = -180;
double minlat = 180;
double minlong = 180;
Func <MAVLink.MAV_FRAME, double, double, double> gethomealt = (altmode, lat, lng) =>
GetHomeAlt(altmode, home.Alt, lat, lng);
if (home != PointLatLngAlt.Zero)
{
home.Tag = "H";
pointlist.Add(home);
fullpointlist.Add(pointlist[pointlist.Count - 1]);
addpolygonmarker("H", home.Lng, home.Lat, home.Alt * altunitmultiplier, null, 0);
}
int a = 0;
foreach (var itemtuple in missionitems.PrevNowNext())
{
var itemprev = itemtuple.Item1;
var item = itemtuple.Item2;
var itemnext = itemtuple.Item3;
ushort command = item.id;
// invalid locationwp
if (command == 0)
{
continue;
}
if (command < (ushort)MAVLink.MAV_CMD.LAST &&
command != (ushort)MAVLink.MAV_CMD.TAKEOFF && // doesnt have a position
command != (ushort)MAVLink.MAV_CMD.VTOL_TAKEOFF && // doesnt have a position
command != (ushort)MAVLink.MAV_CMD.RETURN_TO_LAUNCH &&
command != (ushort)MAVLink.MAV_CMD.CONTINUE_AND_CHANGE_ALT &&
command != (ushort)MAVLink.MAV_CMD.DELAY &&
command != (ushort)MAVLink.MAV_CMD.GUIDED_ENABLE ||
command == (ushort)MAVLink.MAV_CMD.DO_SET_ROI)
{
// land can be 0,0 or a lat,lng
if (command == (ushort)MAVLink.MAV_CMD.LAND && item.lat == 0 && item.lng == 0)
{
continue;
}
if (command == (ushort)MAVLink.MAV_CMD.DO_SET_ROI)
{
pointlist.Add(new PointLatLngAlt(item.lat, item.lng,
item.alt + gethomealt((MAVLink.MAV_FRAME)item.frame, item.lat, item.lng),
"ROI" + (a + 1))
{
color = Color.Red
});
// do set roi is not a nav command. so we dont route through it
//fullpointlist.Add(pointlist[pointlist.Count - 1]);
GMarkerGoogle m =
new GMarkerGoogle(new PointLatLng(item.lat, item.lng),
GMarkerGoogleType.red);
m.ToolTipMode = MarkerTooltipMode.Always;
m.ToolTipText = (a + 1).ToString();
m.Tag = (a + 1).ToString();
GMapMarkerRect mBorders = new GMapMarkerRect(m.Position);
{
mBorders.InnerMarker = m;
mBorders.Tag = "Dont draw line";
}
// check for clear roi, and hide it
if (m.Position.Lat != 0 && m.Position.Lng != 0)
{
// order matters
overlay.Markers.Add(m);
overlay.Markers.Add(mBorders);
}
}
else if (command == (ushort)MAVLink.MAV_CMD.LOITER_TIME ||
command == (ushort)MAVLink.MAV_CMD.LOITER_TURNS ||
command == (ushort)MAVLink.MAV_CMD.LOITER_UNLIM)
{
if (item.lat == 0 && item.lng == 0)
{
// loiter at current location.
if (fullpointlist.Count >= 1)
{
var lastpnt = fullpointlist[fullpointlist.Count - 1];
//addpolygonmarker((a + 1).ToString(), lastpnt.Lng, lastpnt.Lat,item.alt, Color.LightBlue, loiterradius);
}
}
else
{
pointlist.Add(new PointLatLngAlt(item.lat, item.lng,
item.alt + gethomealt((MAVLink.MAV_FRAME)item.frame, item.lat, item.lng),
(a + 1).ToString())
{
color = Color.LightBlue
});
// exit at tangent
if (item.p4 == 1)
{
var from = pointlist.Last();
var to = itemnext.lat != 0 && itemnext.lng != 0
? new PointLatLngAlt(itemnext)
{
Alt = itemnext.alt + gethomealt((MAVLink.MAV_FRAME)item.frame, item.lat,
item.lng)
}
: from;
var bearing = from.GetBearing(to);
var dist = from.GetDistance(to);
if (dist > loiterradius)
{
fullpointlist.Add(pointlist[pointlist.Count - 1]);
var offset = from.newpos(bearing + 90, loiterradius);
fullpointlist.Add(offset);
}
else
{
fullpointlist.Add(pointlist[pointlist.Count - 1]);
}
}
else
{
fullpointlist.Add(pointlist[pointlist.Count - 1]);
}
addpolygonmarker((a + 1).ToString(), item.lng, item.lat,
item.alt * altunitmultiplier, Color.LightBlue, loiterradius);
}
}
else if (command == (ushort)MAVLink.MAV_CMD.SPLINE_WAYPOINT)
{
pointlist.Add(new PointLatLngAlt(item.lat, item.lng,
item.alt + gethomealt((MAVLink.MAV_FRAME)item.frame, item.lat, item.lng),
(a + 1).ToString())
{
Tag2 = "spline"
});
fullpointlist.Add(pointlist[pointlist.Count - 1]);
addpolygonmarker((a + 1).ToString(), item.lng, item.lat,
item.alt * altunitmultiplier, Color.Green, wpradius);
}
else if (command == (ushort)MAVLink.MAV_CMD.WAYPOINT && item.lat == 0 && item.lng == 0)
{
fullpointlist.Add(pointlist[pointlist.Count - 1]);
}
else
{
pointlist.Add(new PointLatLngAlt(item.lat, item.lng,
item.alt + gethomealt((MAVLink.MAV_FRAME)item.frame, item.lat, item.lng),
(a + 1).ToString()));
fullpointlist.Add(pointlist[pointlist.Count - 1]);
addpolygonmarker((a + 1).ToString(), item.lng, item.lat,
item.alt * altunitmultiplier, null, wpradius);
}
maxlong = Math.Max(item.lng, maxlong);
maxlat = Math.Max(item.lat, maxlat);
minlong = Math.Min(item.lng, minlong);
minlat = Math.Min(item.lat, minlat);
}
else if (command == (ushort)MAVLink.MAV_CMD.DO_JUMP) // fix do jumps into the future
{
pointlist.Add(null);
int wpno = (int)Math.Max(item.p1, 0);
int repeat = (int)item.p2;
List <PointLatLngAlt> list = new List <PointLatLngAlt>();
// cycle through reps
for (int repno = repeat; repno > 0; repno--)
{
// cycle through wps
for (int no = wpno; no <= a; no++)
{
if (pointlist[no] != null)
{
list.Add(pointlist[no]);
}
}
}
fullpointlist.AddRange(list);
}
else if (command == (ushort)MAVLink.MAV_CMD.FENCE_POLYGON_VERTEX_INCLUSION) // fence
{
if (fencepoly == null)
{
fencepoly = new GMapPolygon(new List <PointLatLng>(), a.ToString());
}
pointlist.Add(new PointLatLngAlt(item.lat, item.lng, 0, (a + 1).ToString()));
fencepoly.Points.Add(new PointLatLngAlt(item.lat, item.lng, 0, (a + 1).ToString()));
addpolygonmarker((a + 1).ToString(), item.lng, item.lat,
null, Color.Blue, 0, MAVLink.MAV_MISSION_TYPE.FENCE);
if (fencepoly.Points.Count == item.p1)
{
fencepoly.Fill = Brushes.Transparent;
fencepoly.Stroke = Pens.Pink;
overlay.Polygons.Add(fencepoly);
fencepoly = null;
}
}
else if (command == (ushort)MAVLink.MAV_CMD.FENCE_POLYGON_VERTEX_EXCLUSION) // fence
{
if (fencepoly == null)
{
fencepoly = new GMapPolygon(new List <PointLatLng>(), a.ToString());
}
pointlist.Add(new PointLatLngAlt(item.lat, item.lng, 0, (a + 1).ToString()));
fencepoly.Points.Add(new PointLatLngAlt(item.lat, item.lng, 0, (a + 1).ToString()));
addpolygonmarker((a + 1).ToString(), item.lng, item.lat, null, Color.Red, 0, MAVLink.MAV_MISSION_TYPE.FENCE);
if (fencepoly.Points.Count == item.p1)
{
fencepoly.Fill = new SolidBrush(Color.FromArgb(30, 255, 0, 0));
fencepoly.Stroke = Pens.Red;
overlay.Polygons.Add(fencepoly);
fencepoly = null;
}
}
else if (command == (ushort)MAVLink.MAV_CMD.FENCE_CIRCLE_EXCLUSION) // fence
{
pointlist.Add(new PointLatLngAlt(item.lat, item.lng, 0, (a + 1).ToString()));
addpolygonmarker((a + 1).ToString(), item.lng, item.lat,
null, Color.Red, item.p1, MAVLink.MAV_MISSION_TYPE.FENCE, Color.FromArgb(30, 255, 0, 0));
}
else if (command == (ushort)MAVLink.MAV_CMD.FENCE_CIRCLE_INCLUSION) // fence
{
pointlist.Add(new PointLatLngAlt(item.lat, item.lng, 0, (a + 1).ToString()));
addpolygonmarker((a + 1).ToString(), item.lng, item.lat,
null, Color.Blue, item.p1, MAVLink.MAV_MISSION_TYPE.FENCE);
}
else if (command == (ushort)MAVLink.MAV_CMD.FENCE_RETURN_POINT) // fence
{
pointlist.Add(new PointLatLngAlt(item.lat, item.lng, 0, (a + 1).ToString()));
addpolygonmarker((a + 1).ToString(), item.lng, item.lat,
null, Color.Orange, 0, MAVLink.MAV_MISSION_TYPE.FENCE);
}
else if (command >= (ushort)MAVLink.MAV_CMD.RALLY_POINT) // rally
{
pointlist.Add(new PointLatLngAlt(item.lat, item.lng, 0, (a + 1).ToString()));
addpolygonmarker((a + 1).ToString(), item.lng, item.lat,
null, Color.Orange, 0, MAVLink.MAV_MISSION_TYPE.RALLY);
}
else
{
pointlist.Add(null);
}
a++;
}
RegenerateWPRoute(fullpointlist, home);
}
private void deleteWPToolStripMenuItem_Click(object sender, EventArgs e)
{
int no = 0;
if (CurentRectMarker != null)
{
if (int.TryParse(CurentRectMarker.InnerMarker.Tag.ToString(), out no))
{
Commands.Rows.RemoveAt(no - 1); // home is 0
}
else if (int.TryParse(CurentRectMarker.InnerMarker.Tag.ToString().Replace("grid", ""), out no))
{
drawnpolygon.Points.RemoveAt(no - 1);
drawnpolygons.Markers.Clear();
int a = 1;
foreach (PointLatLng pnt in drawnpolygon.Points)
{
addpolygonmarkergrid(a.ToString(), pnt.Lng, pnt.Lat, 0);
a++;
}
MainMap.UpdatePolygonLocalPosition(drawnpolygon);
MainMap.Invalidate();
}
}
CurentRectMarker = null;
writeKML();
}
void MainMap_MouseUp(object sender, MouseEventArgs e)
{
end = MainMap.FromLocalToLatLng(e.X, e.Y);
if (e.Button == MouseButtons.Right) // ignore right clicks
{
return;
}
if (isMouseDown) // mouse down on some other object and dragged to here.
{
if (e.Button == MouseButtons.Left)
{
isMouseDown = false;
}
if (!isMouseDraging)
{
if (CurentRectMarker != null)
{
// cant add WP in existing rect
}
else
{
callMe(currentMarker.Position.Lat, currentMarker.Position.Lng, 0);
}
}
else
{
if (CurentRectMarker != null)
{
if (CurentRectMarker.InnerMarker.Tag.ToString().Contains("grid"))
{
drawnpolygon.Points[int.Parse(CurentRectMarker.InnerMarker.Tag.ToString().Replace("grid", "")) - 1] = new PointLatLng(end.Lat, end.Lng);
MainMap.UpdatePolygonLocalPosition(drawnpolygon);
}
else
{
callMeDrag(CurentRectMarker.InnerMarker.Tag.ToString(), currentMarker.Position.Lat, currentMarker.Position.Lng, -1);
}
CurentRectMarker = null;
}
}
}
isMouseDraging = false;
}
void MainMap_OnMarkerEnter(GMapMarker item)
{
if (!isMouseDown)
{
if (item is GMapMarkerRect)
{
GMapMarkerRect rc = item as GMapMarkerRect;
rc.Pen.Color = Color.Red;
MainMap.Invalidate(false);
CurentRectMarker = rc;
}
}
}
/// <summary>
/// used to add a marker to the map display
/// </summary>
/// <param name="tag"></param>
/// <param name="lng"></param>
/// <param name="lat"></param>
/// <param name="alt"></param>
private void addpolygonmarker(string tag, double lng, double lat, int alt)
{
try
{
PointLatLng point = new PointLatLng(lat, lng);
GMapMarkerGoogleGreen m = new GMapMarkerGoogleGreen(point);
m.ToolTipMode = MarkerTooltipMode.Always;
m.ToolTipText = tag;
m.Tag = tag;
//ArdupilotMega.GMapMarkerRectWPRad mBorders = new ArdupilotMega.GMapMarkerRectWPRad(point, (int)float.Parse(TXT_WPRad.Text), MainMap);
GMapMarkerRect mBorders = new GMapMarkerRect(point);
{
mBorders.InnerMarker = m;
mBorders.wprad = (int)float.Parse(TXT_WPRad.Text);
mBorders.MainMap = MainMap;
}
objects.Markers.Add(m);
objects.Markers.Add(mBorders);
}
catch (Exception) { }
}
private void tsMenuDeleteWP_Click(object sender, EventArgs e)
{
int no = 0;
if (CurentRectMarker != null)
{
if (int.TryParse(CurentRectMarker.InnerMarker.Tag.ToString(), out no))
{
try
{
missionDataGrid.Rows.RemoveAt(no - 1); // home is 0
updateMap();
updateIndex();
}
catch { MessageBox.Show(MWGUIControlsResources.mainGUI_tsMenuDeleteWP_Click_航点错误__请重新选择_提示); }
}
}
if (currentMarker != null)
CurentRectMarker = null;
}
// add marker on current position
private void button4_Click(object sender, EventArgs e)
{
GMapMarker m = new GMapMarkerGoogleGreen(currentMarker.Position);
GMapMarkerRect mBorders = new GMapMarkerRect(currentMarker.Position);
mBorders.Size = new System.Drawing.Size(100, 100);
Placemark p = null;
if(checkBoxPlacemarkInfo.Checked)
{
p = GMaps.Instance.GetPlacemarkFromGeocoder(currentMarker.Position);
}
if(p != null)
{
mBorders.ToolTipText = p.Address;
}
else
{
mBorders.ToolTipText = currentMarker.Position.ToString();
}
objects.Markers.Add(m);
objects.Markers.Add(mBorders);
}
GMapMarker createMarker(PointLatLng pos) {
GMapMarkerVector marker = new GMapMarkerVector(pos);
if (objects.Markers.Count % 2.0 == 0)
marker = new GMapMarkerRect(pos);
marker.Pen =new Pen(Color.FromArgb(144, Color.MidnightBlue),2);
marker.IsHitTestVisible = true;
marker.ToolTipMode = MarkerTooltipMode.OnMouseOver;
routes.Markers.Add(marker);
if (routes.Markers.Count > 1)
marker.ToolTipText = routes.Routes[0].Distance + "";// rMap1.Manager.GetDistance(pos, objects.Markers[objects.Markers.Count - 1].Position) + "";
return marker;
}
public void AddLocation(string szAddress)
{
textBoxGeo.Text = szAddress;
GeoCoderStatusCode status = GeoCoderStatusCode.Unknow;
PointLatLng? pos = GMaps.Instance.GetLatLngFromGeocoder("Ruckersville, " + szAddress, out status);
if (pos != null && status == GeoCoderStatusCode.G_GEO_SUCCESS)
{
GMapMarker m = new GMapMarkerGoogleGreen(pos.Value);
GMapMarkerRect mBorders = new GMapMarkerRect(pos.Value);
mBorders.Size = new System.Drawing.Size(100, 100);
{
mBorders.ToolTipText = szAddress;
mBorders.TooltipMode = MarkerTooltipMode.Always;
}
objects.Markers.Add(m);
objects.Markers.Add(mBorders);
}
}
private void addpolygonmarker(string tag, double lng, double lat, int alt, Color? color, GMapOverlay overlay)
{
try
{
PointLatLng point = new PointLatLng(lat, lng);
GMarkerGoogle m = new GMarkerGoogle(point, GMarkerGoogleType.green);
m.ToolTipMode = MarkerTooltipMode.Always;
m.ToolTipText = tag;
m.Tag = tag;
GMapMarkerRect mBorders = new GMapMarkerRect(point);
{
mBorders.InnerMarker = m;
try
{
mBorders.wprad =
(int) (float.Parse(MainV2.config["TXT_WPRad"].ToString())/CurrentState.multiplierdist);
}
catch
{
}
if (color.HasValue)
{
mBorders.Color = color.Value;
}
}
overlay.Markers.Add(m);
overlay.Markers.Add(mBorders);
}
catch (Exception)
{
}
}
void MainMap_OnMarkerEnter(GMapMarker item)
{
if (!isMouseDown)
{
if (item is GMapMarkerRect)
{
GMapMarkerRect rc = item as GMapMarkerRect;
rc.Pen.Color = Color.Red;
gMapControl1.Invalidate(false);
int answer;
if (item.Tag != null && rc.InnerMarker != null && int.TryParse(rc.InnerMarker.Tag.ToString(), out answer))
{
try
{
Commands.CurrentCell = Commands[0, answer - 1];
item.ToolTipText = "高度: " + Commands[Alt.Index, answer - 1].Value;
item.ToolTipMode = MarkerTooltipMode.OnMouseOver;
}
catch { }
}
CurentRectMarker = rc;
}
if (item is GMapMarkerRallyPt)
{
CurrentRallyPt = item as GMapMarkerRallyPt;
}
if (item is GMapMarkerAirport)
{
// do nothing - readonly
return;
}
if (item is GMapMarker)
{
CurrentGMapMarker = item;
}
}
}
private void DeleteWP_Click(object sender, EventArgs e)
{
int no = 0;
if (CurentRectMarker != null)
{
if (int.TryParse(CurentRectMarker.InnerMarker.Tag.ToString(), out no))
{
try
{
Commands.Rows.RemoveAt(no - 1); // home is 0
}
catch { CustomMessageBox.Show("error selecting wp, please try again."); }
}
else if (int.TryParse(CurentRectMarker.InnerMarker.Tag.ToString().Replace("grid", ""), out no))
{
try
{
drawnpolygon.Points.RemoveAt(no - 1);
drawnpolygonsoverlay.Markers.Clear();
int a = 1;
foreach (PointLatLng pnt in drawnpolygon.Points)
{
addpolygonmarkergrid(a.ToString(), pnt.Lng, pnt.Lat, 0);
a++;
}
gMapControl1.UpdatePolygonLocalPosition(drawnpolygon);
gMapControl1.Invalidate();
}
catch
{
CustomMessageBox.Show("Remove point Failed. Please try again.");
}
}
}
else if (CurrentRallyPt != null)
{
rallypointoverlay.Markers.Remove(CurrentRallyPt);
gMapControl1.Invalidate(true);
CurrentRallyPt = null;
}
if (currentMarker != null)
CurentRectMarker = null;
writeKML();
}
/// <summary>
/// used to write a KML, update the Map view polygon, and update the row headers
/// </summary>
public void writeKML()
{
// quickadd is for when loading wps from eeprom or file, to prevent slow, loading times
if (quickadd)
return;
// this is to share the current mission with the data tab
pointlist = new List<PointLatLngAlt>();
fullpointlist.Clear();
Debug.WriteLine(DateTime.Now);
try
{
if (objectsoverlay != null) // hasnt been created yet
{
objectsoverlay.Markers.Clear();
}
// process and add home to the list
string home;
if (TXT_homealt.Text != "" && TXT_homelat.Text != "" && TXT_homelng.Text != "")
{
home = string.Format("{0},{1},{2}\r\n", TXT_homelng.Text, TXT_homelat.Text, TXT_DefaultAlt.Text);
if (objectsoverlay != null) // during startup
{
pointlist.Add(new PointLatLngAlt(double.Parse(TXT_homelat.Text), double.Parse(TXT_homelng.Text), (int)double.Parse(TXT_homealt.Text), "H"));
fullpointlist.Add(pointlist[pointlist.Count - 1]);
addpolygonmarker("H", double.Parse(TXT_homelng.Text), double.Parse(TXT_homelat.Text), 0, null);
}
}
else
{
home = "";
pointlist.Add(null);
fullpointlist.Add(pointlist[pointlist.Count - 1]);
}
// setup for centerpoint calc etc.
double avglat = 0;
double avglong = 0;
double maxlat = -180;
double maxlong = -180;
double minlat = 180;
double minlong = 180;
double homealt = 0;
try
{
if (!String.IsNullOrEmpty(TXT_homealt.Text))
homealt = (int)double.Parse(TXT_homealt.Text);
}
catch { }
//if ((altmode)CMB_altmode.SelectedValue == altmode.Absolute)
//{
// homealt = 0; // for absolute we dont need to add homealt
//}
int usable = 0;
updateRowNumbers();
long temp = Stopwatch.GetTimestamp();
string lookat = "";
for (int a = 0; a < Commands.Rows.Count - 0; a++)
{
try
{
if (Commands.Rows[a].Cells[Command.Index].Value.ToString().Contains("UNKNOWN"))
continue;
int command = (byte)(int)Enum.Parse(typeof(MAVLink.MAV_CMD), Commands.Rows[a].Cells[Command.Index].Value.ToString(), false);
if (command < (byte)MAVLink.MAV_CMD.LAST &&
command != (byte)MAVLink.MAV_CMD.TAKEOFF &&
command != (byte)MAVLink.MAV_CMD.RETURN_TO_LAUNCH &&
command != (byte)MAVLink.MAV_CMD.CONTINUE_AND_CHANGE_ALT &&
command != (byte)MAVLink.MAV_CMD.GUIDED_ENABLE
|| command == (byte)MAVLink.MAV_CMD.DO_SET_ROI)
{
string cell2 = Commands.Rows[a].Cells[Alt.Index].Value.ToString(); // alt
string cell3 = Commands.Rows[a].Cells[Lat.Index].Value.ToString(); // lat
string cell4 = Commands.Rows[a].Cells[Lon.Index].Value.ToString(); // lng
// land can be 0,0 or a lat,lng
if (command == (byte)MAVLink.MAV_CMD.LAND && cell3 == "0" && cell4 == "0")
continue;
if (cell4 == "?" || cell3 == "?")
continue;
if (command == (byte)MAVLink.MAV_CMD.DO_SET_ROI)
{
pointlist.Add(new PointLatLngAlt(double.Parse(cell3), double.Parse(cell4), (int)double.Parse(cell2) + homealt, "ROI" + (a + 1)) { color = Color.Red });
// do set roi is not a nav command. so we dont route through it
//fullpointlist.Add(pointlist[pointlist.Count - 1]);
GMarkerGoogle m = new GMarkerGoogle(new PointLatLng(double.Parse(cell3), double.Parse(cell4)), GMarkerGoogleType.red);
m.ToolTipMode = MarkerTooltipMode.Always;
m.ToolTipText = (a + 1).ToString();
m.Tag = (a + 1).ToString();
GMapMarkerRect mBorders = new GMapMarkerRect(m.Position);
{
mBorders.InnerMarker = m;
mBorders.Tag = "Dont draw line";
}
// check for clear roi, and hide it
if (m.Position.Lat != 0 && m.Position.Lng != 0)
{
// order matters
objectsoverlay.Markers.Add(m);
objectsoverlay.Markers.Add(mBorders);
}
}
else if (command == (byte)MAVLink.MAV_CMD.LOITER_TIME || command == (byte)MAVLink.MAV_CMD.LOITER_TURNS || command == (byte)MAVLink.MAV_CMD.LOITER_UNLIM)
{
pointlist.Add(new PointLatLngAlt(double.Parse(cell3), double.Parse(cell4), (int)double.Parse(cell2) + homealt, (a + 1).ToString()) { color = Color.LightBlue });
fullpointlist.Add(pointlist[pointlist.Count - 1]);
addpolygonmarker((a + 1).ToString(), double.Parse(cell4), double.Parse(cell3), (int)double.Parse(cell2), Color.LightBlue);
}
else if (command == (byte)MAVLink.MAV_CMD.SPLINE_WAYPOINT)
{
pointlist.Add(new PointLatLngAlt(double.Parse(cell3), double.Parse(cell4), (int)double.Parse(cell2) + homealt, (a + 1).ToString()) { Tag2 = "spline" });
fullpointlist.Add(pointlist[pointlist.Count - 1]);
addpolygonmarker((a + 1).ToString(), double.Parse(cell4), double.Parse(cell3), (int)double.Parse(cell2), Color.Green);
}
else
{
pointlist.Add(new PointLatLngAlt(double.Parse(cell3), double.Parse(cell4), (int)double.Parse(cell2) + homealt, (a + 1).ToString()));
fullpointlist.Add(pointlist[pointlist.Count - 1]);
addpolygonmarker((a + 1).ToString(), double.Parse(cell4), double.Parse(cell3), (int)double.Parse(cell2), null);
}
avglong += double.Parse(Commands.Rows[a].Cells[Lon.Index].Value.ToString());
avglat += double.Parse(Commands.Rows[a].Cells[Lat.Index].Value.ToString());
usable++;
maxlong = Math.Max(double.Parse(Commands.Rows[a].Cells[Lon.Index].Value.ToString()), maxlong);
maxlat = Math.Max(double.Parse(Commands.Rows[a].Cells[Lat.Index].Value.ToString()), maxlat);
minlong = Math.Min(double.Parse(Commands.Rows[a].Cells[Lon.Index].Value.ToString()), minlong);
minlat = Math.Min(double.Parse(Commands.Rows[a].Cells[Lat.Index].Value.ToString()), minlat);
Debug.WriteLine(temp - Stopwatch.GetTimestamp());
}
else if (command == (byte)MAVLink.MAV_CMD.DO_JUMP) // fix do jumps into the future
{
pointlist.Add(null);
int wpno = int.Parse(Commands.Rows[a].Cells[Param1.Index].Value.ToString());
int repeat = int.Parse(Commands.Rows[a].Cells[Param2.Index].Value.ToString());
List<PointLatLngAlt> list = new List<PointLatLngAlt>();
// cycle through reps
for (int repno = repeat; repno > 0; repno--)
{
// cycle through wps
for (int no = wpno; no <= a; no++)
{
if (pointlist[no] != null)
list.Add(pointlist[no]);
}
}
fullpointlist.AddRange(list);
}
else
{
pointlist.Add(null);
}
}
catch (Exception e)
{
log.Info("writekml - bad wp data " + e);
}
}
if (usable > 0)
{
avglat = avglat / usable;
avglong = avglong / usable;
double latdiff = maxlat - minlat;
double longdiff = maxlong - minlong;
float range = 4000;
Locationwp loc1 = new Locationwp();
loc1.lat = (minlat);
loc1.lng = (minlong);
Locationwp loc2 = new Locationwp();
loc2.lat = (maxlat);
loc2.lng = (maxlong);
//double distance = getDistance(loc1, loc2); // same code as ardupilot
double distance = 2000;
if (usable > 1)
{
range = (float)(distance * 2);
}
else
{
range = 4000;
}
if (avglong != 0 && usable < 3)
{
// no autozoom
lookat = "<LookAt> <longitude>" + (minlong + longdiff / 2).ToString(new CultureInfo("en-US")) + "</longitude> <latitude>" + (minlat + latdiff / 2).ToString(new CultureInfo("en-US")) + "</latitude> <range>" + range + "</range> </LookAt>";
//MainMap.ZoomAndCenterMarkers("objects");
//MainMap.Zoom -= 1;
//MainMap_OnMapZoomChanged();
}
}
else if (home.Length > 5 && usable == 0)
{
lookat = "<LookAt> <longitude>" + TXT_homelng.Text.ToString(new CultureInfo("en-US")) + "</longitude> <latitude>" + TXT_homelat.Text.ToString(new CultureInfo("en-US")) + "</latitude> <range>4000</range> </LookAt>";
RectLatLng? rect = gMapControl1.GetRectOfAllMarkers("objects");
if (rect.HasValue)
{
gMapControl1.Position = rect.Value.LocationMiddle;
}
//MainMap.Zoom = 17;
//MainMap_OnMapZoomChanged();
}
//RegeneratePolygon();
RegenerateWPRoute(fullpointlist);
if (fullpointlist.Count > 0)
{
double homedist = 0;
if (home.Length > 5)
{
homedist = gMapControl1.MapProvider.Projection.GetDistance(fullpointlist[fullpointlist.Count - 1], fullpointlist[0]);
}
double dist = 0;
for (int a = 1; a < fullpointlist.Count; a++)
{
if (fullpointlist[a - 1] == null)
continue;
if (fullpointlist[a] == null)
continue;
dist += gMapControl1.MapProvider.Projection.GetDistance(fullpointlist[a - 1], fullpointlist[a]);
}
//lbl_distance.Text = rm.GetString("lbl_distance.Text") + ": " + FormatDistance(dist + homedist, false);
}
setgradanddistandaz();
}
catch (Exception ex)
{
log.Info(ex.ToString());
}
Debug.WriteLine(DateTime.Now);
}
// add marker on current position
private void button4_Click(object sender, EventArgs e)
{
GMarkerGoogle m = new GMarkerGoogle(currentMarker.Position, GMarkerGoogleType.green_pushpin);
GMapMarkerRect mBorders = new GMapMarkerRect(currentMarker.Position);
{
mBorders.InnerMarker = m;
if (polygon != null)
{
mBorders.Tag = polygon.Points.Count;
}
mBorders.ToolTipMode = MarkerTooltipMode.Always;
}
Placemark? p = null;
if (checkBoxPlacemarkInfo.Checked)
{
GeoCoderStatusCode status;
var ret = GMapProviders.GoogleMap.GetPlacemark(currentMarker.Position, out status);
if (status == GeoCoderStatusCode.G_GEO_SUCCESS && ret != null)
{
p = ret;
}
}
if (p != null)
{
mBorders.ToolTipText = p.Value.Address;
}
else
{
mBorders.ToolTipText = currentMarker.Position.ToString();
}
objects.Markers.Add(m);
objects.Markers.Add(mBorders);
RegeneratePolygon();
}
private void addpolygonmarkergrid(string tag, double lng, double lat, int alt)
{
try
{
PointLatLng point = new PointLatLng(lat, lng);
GMarkerGoogle m = new GMarkerGoogle(point, GMarkerGoogleType.red);
m.ToolTipMode = MarkerTooltipMode.Never;
m.ToolTipText = "grid" + tag;
m.Tag = "grid" + tag;
//MissionPlanner.GMapMarkerRectWPRad mBorders = new MissionPlanner.GMapMarkerRectWPRad(point, (int)float.Parse(TXT_WPRad.Text), MainMap);
GMapMarkerRect mBorders = new GMapMarkerRect(point);
{
mBorders.InnerMarker = m;
}
drawnpolygonsoverlay.Markers.Add(m);
drawnpolygonsoverlay.Markers.Add(mBorders);
}
catch (Exception ex)
{
log.Info(ex.ToString());
}
}
private void AddPOIMarker(string tag, double lng, double lat)
{
PointLatLng point = new PointLatLng(lat, lng);
GMapMarker m = new GMapMarkerMissionStep(point, Convert.ToByte(tag), WP_ACTION.SET_POI);
m.Tag = tag;
GMapMarkerRect mBorders = new GMapMarkerRect(point);
{
mBorders.InnerMarker = m;
mBorders.wprad = (int)mw_gui.wp_radius / 100;
mBorders.MainMap = MainMap;
}
GMOverlayPOI.Markers.Add(m);
GMOverlayPOI.Markers.Add(mBorders);
}
private void MapControl_OnRouteLeave(GMapRoute item)
{
item.Overlay.Markers.Remove(marker);
marker = null;
}
private void AddWPMarker(string tag, double lng, double lat, int alt, Color? color, int markertype)
{
PointLatLng point = new PointLatLng(lat, lng);
GMapMarker m = new GMapMarkerMissionStep(point, Convert.ToByte(tag), (byte)markertype);
m.Tag = tag;
GMapMarkerRect mBorders = new GMapMarkerRect(point);
{
mBorders.InnerMarker = m;
mBorders.wprad = (int)mw_gui.wp_radius/100;
mBorders.MainMap = MainMap;
if (color.HasValue)
{
mBorders.Color = color.Value;
}
}
GMOverlayWaypoints.Markers.Add(m);
GMOverlayWaypoints.Markers.Add(mBorders);
}
void MainMap_OnMarkerEnter(GMapMarker item)
{
if (item is GMapMarkerRect)
{
GMapMarkerRect rc = item as GMapMarkerRect;
rc.Pen.Color = Color.Red;
CurentRectMarker = rc;
// Debug.WriteLine("OnMarkerEnter: " + item.Position);
}
}
void MainMap_OnMarkerLeave(GMapMarker item)
{
if (!isMouseDown)
{
if (item is GMapMarkerRect)
{
CurentRectMarker = null;
GMapMarkerRect rc = item as GMapMarkerRect;
rc.Pen.Color = Color.Blue;
MainMap.Invalidate(false);
}
}
}
private void addpolygonmarker(string tag, double lng, double lat, int alt, Color? color, GMapOverlay overlay)
{
try
{
PointLatLng point = new PointLatLng(lat, lng);
GMarkerGoogle m = new GMarkerGoogle(point, GMarkerGoogleType.green);
m.ToolTipMode = MarkerTooltipMode.Always;
m.ToolTipText = tag;
m.Tag = tag;
GMapMarkerRect mBorders = new GMapMarkerRect(point);
{
mBorders.InnerMarker = m;
try
{
mBorders.wprad =
(int) (Settings.Instance.GetFloat("TXT_WPRad")/CurrentState.multiplierdist);
}
catch
{
}
if (color.HasValue)
{
mBorders.Color = color.Value;
}
}
Invoke((MethodInvoker) delegate
{
overlay.Markers.Add(m);
overlay.Markers.Add(mBorders);
});
}
catch (Exception)
{
}
}
void MainMap_OnMarkerEnter(GMapMarker item)
{
if (!isMouseDown)
{
if (item is GMapMarkerRect)
{
GMapMarkerRect rc = item as GMapMarkerRect;
rc.Pen.Color = Color.Green;
MainMap.Invalidate(false);
CurentRectMarker = rc;
int answer;
if (item.Tag != null && rc.InnerMarker != null && int.TryParse(rc.InnerMarker.Tag.ToString(), out answer))
{
try
{
missionDataGrid.CurrentCell = missionDataGrid[0, answer - 1];
item.ToolTipText = "Altitude: " + missionDataGrid[ALTCOL.Index, answer - 1].Value.ToString()+"m";
item.ToolTipMode = MarkerTooltipMode.OnMouseOver;
}
catch { }
}
}
}
}
public void CreateOverlay(MAVLink.MAV_FRAME altmode, PointLatLngAlt home, List <Locationwp> missionitems, double wpradius, double loiterradius)
{
overlay.Clear();
double maxlat = -180;
double maxlong = -180;
double minlat = 180;
double minlong = 180;
Func <double, double, double> gethomealt = (lat, lng) => GetHomeAlt(altmode, home.Alt, lat, lng);
home.Tag = "H";
home.Tag2 = altmode.ToString();
pointlist.Add(home);
fullpointlist.Add(pointlist[pointlist.Count - 1]);
addpolygonmarker("H", home.Lng, home.Lat, home.Alt, null, 0);
int a = 0;
foreach (var itemtuple in missionitems.PrevNowNext())
{
var itemprev = itemtuple.Item1;
var item = itemtuple.Item2;
var itemnext = itemtuple.Item3;
ushort command = item.id;
// invalid locationwp
if (command == 0)
{
continue;
}
if (command < (ushort)MAVLink.MAV_CMD.LAST &&
command != (ushort)MAVLink.MAV_CMD.TAKEOFF && // doesnt have a position
command != (ushort)MAVLink.MAV_CMD.VTOL_TAKEOFF && // doesnt have a position
command != (ushort)MAVLink.MAV_CMD.RETURN_TO_LAUNCH &&
command != (ushort)MAVLink.MAV_CMD.CONTINUE_AND_CHANGE_ALT &&
command != (ushort)MAVLink.MAV_CMD.DELAY &&
command != (ushort)MAVLink.MAV_CMD.GUIDED_ENABLE ||
command == (ushort)MAVLink.MAV_CMD.DO_SET_ROI)
{
// land can be 0,0 or a lat,lng
if (command == (ushort)MAVLink.MAV_CMD.LAND && item.lat == 0 && item.lng == 0)
{
continue;
}
if (command == (ushort)MAVLink.MAV_CMD.DO_SET_ROI)
{
pointlist.Add(new PointLatLngAlt(item.lat, item.lng,
item.alt + gethomealt(item.lat, item.lng), "ROI" + (a + 1))
{
color = Color.Red
});
// do set roi is not a nav command. so we dont route through it
//fullpointlist.Add(pointlist[pointlist.Count - 1]);
GMarkerGoogle m =
new GMarkerGoogle(new PointLatLng(item.lat, item.lng),
GMarkerGoogleType.red);
m.ToolTipMode = MarkerTooltipMode.Always;
m.ToolTipText = (a + 1).ToString();
m.Tag = (a + 1).ToString();
GMapMarkerRect mBorders = new GMapMarkerRect(m.Position);
{
mBorders.InnerMarker = m;
mBorders.Tag = "Dont draw line";
}
// check for clear roi, and hide it
if (m.Position.Lat != 0 && m.Position.Lng != 0)
{
// order matters
overlay.Markers.Add(m);
overlay.Markers.Add(mBorders);
}
}
else if (command == (ushort)MAVLink.MAV_CMD.LOITER_TIME ||
command == (ushort)MAVLink.MAV_CMD.LOITER_TURNS ||
command == (ushort)MAVLink.MAV_CMD.LOITER_UNLIM)
{
pointlist.Add(new PointLatLngAlt(item.lat, item.lng,
item.alt + gethomealt(item.lat, item.lng), (a + 1).ToString())
{
color = Color.LightBlue
});
// exit at tangent
if (item.p4 == 1)
{
var from = pointlist.Last();
var to = itemnext.lat != 0 && itemnext.lng != 0
? new PointLatLngAlt(itemnext)
{
Alt = itemnext.alt + gethomealt(item.lat, item.lng)
}
: from;
var bearing = from.GetBearing(to);
var dist = from.GetDistance(to);
if (dist > loiterradius)
{
fullpointlist.Add(pointlist[pointlist.Count - 1]);
var offset = from.newpos(bearing + 90, loiterradius);
fullpointlist.Add(offset);
}
else
{
fullpointlist.Add(pointlist[pointlist.Count - 1]);
}
}
else
{
fullpointlist.Add(pointlist[pointlist.Count - 1]);
}
addpolygonmarker((a + 1).ToString(), item.lng, item.lat,
item.alt, Color.LightBlue, loiterradius);
}
else if (command == (ushort)MAVLink.MAV_CMD.SPLINE_WAYPOINT)
{
pointlist.Add(new PointLatLngAlt(item.lat, item.lng,
item.alt + gethomealt(item.lat, item.lng), (a + 1).ToString())
{
Tag2 = "spline"
});
fullpointlist.Add(pointlist[pointlist.Count - 1]);
addpolygonmarker((a + 1).ToString(), item.lng, item.lat,
item.alt, Color.Green, wpradius);
}
else
{
pointlist.Add(new PointLatLngAlt(item.lat, item.lng,
item.alt + gethomealt(item.lat, item.lng), (a + 1).ToString()));
fullpointlist.Add(pointlist[pointlist.Count - 1]);
addpolygonmarker((a + 1).ToString(), item.lng, item.lat,
item.alt, null, wpradius);
}
maxlong = Math.Max(item.lng, maxlong);
maxlat = Math.Max(item.lat, maxlat);
minlong = Math.Min(item.lng, minlong);
minlat = Math.Min(item.lat, minlat);
}
else if (command == (ushort)MAVLink.MAV_CMD.DO_JUMP) // fix do jumps into the future
{
pointlist.Add(null);
int wpno = (int)item.p1;
int repeat = (int)item.p2;
List <PointLatLngAlt> list = new List <PointLatLngAlt>();
// cycle through reps
for (int repno = repeat; repno > 0; repno--)
{
// cycle through wps
for (int no = wpno; no <= a; no++)
{
if (pointlist[no] != null)
{
list.Add(pointlist[no]);
}
}
}
fullpointlist.AddRange(list);
}
else
{
pointlist.Add(null);
}
a++;
}
RegenerateWPRoute(fullpointlist, home);
}
private void tsMenuDeleteWP_Click(object sender, EventArgs e)
{
int no = 0;
if (CurentRectMarker != null)
{
if (int.TryParse(CurentRectMarker.InnerMarker.Tag.ToString(), out no))
{
try
{
missionDataGrid.Rows.RemoveAt(no - 1); // home is 0
updateMap();
updateIndex();
}
catch { MessageBox.Show("error selecting wp, please try again."); }
}
}
if (currentMarker != null)
CurentRectMarker = null;
}
private void addpolygonmarker(string tag, double lng, double lat, int alt, Color? color, GMapOverlay overlay)
{
try
{
PointLatLng point = new PointLatLng(lat, lng);
GMapMarkerGoogleGreen m = new GMapMarkerGoogleGreen(point);
m.ToolTipMode = MarkerTooltipMode.Always;
m.ToolTipText = tag;
m.Tag = tag;
GMapMarkerRect mBorders = new GMapMarkerRect(point);
{
mBorders.InnerMarker = m;
try
{
mBorders.wprad = (int)float.Parse(ArdupilotMega.MainV2.config["TXT_WPRad"].ToString());
}
catch { }
mBorders.MainMap = gMapControl1;
if (color.HasValue)
{
mBorders.Color = color.Value;
}
}
overlay.Markers.Add(m);
overlay.Markers.Add(mBorders);
}
catch (Exception) { }
}
private void addpolygonmarkergrid(string tag, double lng, double lat, int alt)
{
try
{
PointLatLng point = new PointLatLng(lat, lng);
GMapMarkerGoogleRed m = new GMapMarkerGoogleRed(point);
m.ToolTipMode = MarkerTooltipMode.Never;
m.ToolTipText = "grid" + tag;
m.Tag = "grid" + tag;
//ArdupilotMega.GMapMarkerRectWPRad mBorders = new ArdupilotMega.GMapMarkerRectWPRad(point, (int)float.Parse(TXT_WPRad.Text), MainMap);
GMapMarkerRect mBorders = new GMapMarkerRect(point);
{
mBorders.InnerMarker = m;
}
drawnpolygons.Markers.Add(m);
drawnpolygons.Markers.Add(mBorders);
}
catch (Exception) { }
}
private void addpolygonmarkerred(string tag, double lng, double lat, int alt, Color? color, GMapOverlay overlay)
{
try
{
PointLatLng point = new PointLatLng(lat, lng);
GMarkerGoogle m = new GMarkerGoogle(point, GMarkerGoogleType.red);
m.ToolTipMode = MarkerTooltipMode.Always;
m.ToolTipText = tag;
m.Tag = tag;
GMapMarkerRect mBorders = new GMapMarkerRect(point);
{
mBorders.InnerMarker = m;
}
overlay.Markers.Add(m);
overlay.Markers.Add(mBorders);
}
catch (Exception)
{
}
}
/*
void MainMap_MouseDown(object sender, MouseEventArgs e)
{
// start = MainMap.FromLocalToLatLng(e.X, e.Y);
if (e.Button == MouseButtons.Left)
{
// copterPosMarker.Position = start;
// points.Add(new PointLatLng(copterPos.Lat, copterPos.Lng));
// Grout.Points.Add(start);
// = new GMapRoute(points, "track");
// //routes.Routes.Add(Grout);
// MainMap.Position = start;
// MainMap.Invalidate();
}
}
void MainMap_MouseMove(object sender, MouseEventArgs e)
{
PointLatLng point = MainMap.FromLocalToLatLng(e.X, e.Y);
currentMarker.Position = point;
}
*/
private void addpolygonmarker(string tag, double lng, double lat, int alt, Color? color)
{
PointLatLng point = new PointLatLng(lat, lng);
GMapMarkerGoogleGreen m = new GMapMarkerGoogleGreen(point);
m.ToolTipMode = MarkerTooltipMode.Always;
m.ToolTipText = tag;
m.Tag = tag;
//ArdupilotMega.GMapMarkerRectWPRad mBorders = new ArdupilotMega.GMapMarkerRectWPRad(point, (int)float.Parse(TXT_WPRad.Text), MainMap);
GMapMarkerRect mBorders = new GMapMarkerRect(point);
{
mBorders.InnerMarker = m;
mBorders.wprad = (int)float.Parse("5");
mBorders.MainMap = MainMap;
if (color.HasValue)
{
mBorders.Color = color.Value;
}
}
markers.Markers.Add(m);
markers.Markers.Add(mBorders);
}