public XmlData()
{
_time = new SystemTime();
_MulitWaypoint = new MulitWaypointData();
_UAVpoint = new PointData();
_Homepoint = new PointData();
_Waypoint = new PointData();
_NWaypoint = new PointData();
_Subpoint = new PointData();
// メイン画面表示HealthData
_battery = 0; // バッテリ電圧残量
_nSat = 0; // GPSの有効衛星数
_IsPingCommandReplying = false; // Connected/Disconnected
_nControlMode = 0; // Controlモード
_nControlModeName = "";
_nReset = false;
_nFlightMode = 0; // Flightモード
_nFlightModeName = "";
_nDriveMode = -1;
_commandReplay = -1;
// MulitWaypoint転送状況
_Percent = 0;
// 再生時間
_currentTime = 0;
_Port = ""; // 通信ポート
_FilePath = "";
_FlightLogFilePath = ""; //「飛行ログを開く」の絶対パス
_FlightLogFileSavePath = ""; //「飛行ログを保存」の絶対パス
_FlightPlanFilePath = ""; // 飛行計画ファイルの絶対パス
_FlightPlan = ""; // 飛行計画 XML
// Plot Data
_PlotWindow = new List <PlotData>();
// HealthData
_Health = new HealthData();
_errorID = new int[] { -1, -1 };
_errorLevel = new int[] { -1, -1 };
_errorTicks = new int[] { -1, -1 };
_errorCategory = new int[] { -1, -1 };
_errorParam = new int[] { -1, -1 };
_errorGCSTimer = new int[] { 0, 0 };
}
/////////////////////////////////////////////////////////////////////////////////////////
// MulitiWaypoint用
// MulitiWaypoint(.wpp)获取
public void MulitiWaypointRead(string xmltext)
{
XmlDocument xml = new XmlDocument();
// 文本数据的XML数据读取
xml.LoadXml(xmltext);
// 从XML数据获得
XmlElement xmlRoot = xml.DocumentElement;
_BindingData.FlightPlan = xmlRoot.OuterXml.Replace("\n", ""); //root保存以下信息
_BindingData.FlightPlan = _BindingData.FlightPlan.Replace(" ", "");
// 参考点 - 纬度（项目来源） [deg]
XmlNodeList xmlNode = xmlRoot.GetElementsByTagName("LatOrigin");
double OriLat = double.Parse(xmlNode[0].InnerXml);
// 参考点 - 经度（项目来源） [deg]
xmlNode = xmlRoot.GetElementsByTagName("LonOrigin");
double OriLng = double.Parse(xmlNode[0].InnerXml);
/////////////////////////////////////////////////////////////////////
// TODO:使命仅有一个对应关系
//从基准点到任务起源南北方向的移动量[m]
xmlNode = xmlRoot.GetElementsByTagName("NS_Transition");
double NS_Transition = double.Parse(xmlNode[0].InnerXml);
// 从基准点到任务起源东西方向的移动量 [m]
xmlNode = xmlRoot.GetElementsByTagName("EW_Transition");
double EW_Transition = double.Parse(xmlNode[0].InnerXml);
// 任务原点的高度[m]
xmlNode = xmlRoot.GetElementsByTagName("V_Transition");
double V_Transition = double.Parse(xmlNode[0].InnerXml);
// 相对于该任务坐标系的x轴的缩放因子
xmlNode = xmlRoot.GetElementsByTagName("ScaleX");
double ScaleX = double.Parse(xmlNode[0].InnerXml);
// 相对于该任务坐标系的y轴的缩放因子
xmlNode = xmlRoot.GetElementsByTagName("ScaleY");
double ScaleY = double.Parse(xmlNode[0].InnerXml);
// 相对于该任务坐标系的z轴的缩放因子
xmlNode = xmlRoot.GetElementsByTagName("ScaleZ");
double ScaleZ = double.Parse(xmlNode[0].InnerXml);
// 任务坐标系的x轴的方位
xmlNode = xmlRoot.GetElementsByTagName("Rotation");
double Rotation = double.Parse(xmlNode[0].InnerXml);
// 水平面的变换
double c = Math.Cos(Rotation);
double s = Math.Sin(Rotation);
double sx = ScaleX;
double sy = ScaleY;
double T11 = c * sx;
double T12 = -s * sy;
double T21 = s * sx;
double T22 = c * sy;
//
/////////////////////////////////////////////////////////////////////
System.Xml.XmlNodeList nodelist = xml.GetElementsByTagName("waypoint");
// MulitWaypoint
MulitWaypointData _mulitWaypointData = new MulitWaypointData();
_mulitWaypointData.Origin = new PointLatLng(OriLat, OriLng);
PointLatLng OriginMeter = MeterPerLatLng(_mulitWaypointData.Origin);
_mulitWaypointData.mCount = nodelist.Count;
for (int i = 0; i < _mulitWaypointData.mCount; i++)
{
//xmlNode = nodelist[i].SelectNodes("ID");
//int id = int.Parse(xmlNode[0].InnerXml);
//_mulitWaypointData.mid.Add(id);
// TODO 仮ID
_mulitWaypointData.mid.Add(i + 1);
xmlNode = nodelist[i].SelectNodes("x");
double x = double.Parse(xmlNode[0].InnerXml);
xmlNode = nodelist[i].SelectNodes("y");
double y = double.Parse(xmlNode[0].InnerXml);
double xx = T11 * (x - NS_Transition) + T12 * (y - EW_Transition);
double yy = T21 * (x - NS_Transition) + T22 * (y - EW_Transition);
double lat = _mulitWaypointData.Origin.Lat + xx / OriginMeter.Lat;
double lng = _mulitWaypointData.Origin.Lng + yy / OriginMeter.Lng;
PointLatLng Waypoint = new PointLatLng(lat, lng);
_mulitWaypointData.multi.Add(Waypoint);
// 高度
xmlNode = nodelist[i].SelectNodes("height");
double alt = V_Transition + ScaleZ * double.Parse(xmlNode[0].InnerXml);
_mulitWaypointData.malt.Add(alt);
// 方位
xmlNode = nodelist[i].SelectNodes("psi");
double psi = double.Parse(xmlNode[0].InnerXml); //Rotation + double.Parse(xmlNode[0].InnerXml);
psi += Rotation;
psi *= 180 / Math.PI; // rad->deg 変換
_mulitWaypointData.mpsi.Add(psi);
xmlNode = nodelist[i].SelectNodes("speed");
double speed = double.Parse(xmlNode[0].InnerXml);
_mulitWaypointData.mspeed.Add(speed);
xmlNode = nodelist[i].SelectNodes("accuracy");
double accuracy = double.Parse(xmlNode[0].InnerXml);
_mulitWaypointData.maccuracy.Add(accuracy);
xmlNode = nodelist[i].SelectNodes("wait");
double wait = double.Parse(xmlNode[0].InnerXml);
_mulitWaypointData.mwait.Add(wait);
xmlNode = nodelist[i].SelectNodes("func_id");
int func_id = int.Parse(xmlNode[0].InnerXml);
_mulitWaypointData.mfunc_id.Add(func_id);
}
// MulitWaypoint数据更新
_BindingData.MulitWaypoint = _mulitWaypointData;
}
/////////////////////////////////////////////////////////////////////////////////////////
// MulitiWaypoint用
// MulitiWaypoint(.wpp)読込
public void MulitiWaypointRead(string xmltext)
{
XmlDocument xml = new XmlDocument();
// textデータをxmlデータに読み込む
xml.LoadXml(xmltext);
// xmlからデータを取得
XmlElement xmlRoot = xml.DocumentElement;
XmlNodeList xmlNode = xmlRoot.GetElementsByTagName("LatOrigin");
double OriLat = double.Parse(xmlNode[0].InnerXml);
xmlNode = xmlRoot.GetElementsByTagName("LonOrigin");
double OriLng = double.Parse(xmlNode[0].InnerXml);
System.Xml.XmlNodeList nodelist = xml.GetElementsByTagName("waypoint");
//
MulitWaypointData _mulitWaypointData = new MulitWaypointData();
_mulitWaypointData.Origin = new PointLatLng(OriLat, OriLng);
PointLatLng OriginMeter = MeterPerLatLng(_mulitWaypointData.Origin);
_mulitWaypointData.mCount = nodelist.Count;
for (int i = 0; i < _mulitWaypointData.mCount; i++)
{
//xmlNode = nodelist[i].SelectNodes("ID");
//int id = int.Parse(xmlNode[0].InnerXml);
//_mulitWaypointData.mid.Add(id);
// TODO 仮ID
_mulitWaypointData.mid.Add(i + 1);
xmlNode = nodelist[i].SelectNodes("x");
double lat = _mulitWaypointData.Origin.Lat + double.Parse(xmlNode[0].InnerXml) / OriginMeter.Lat;
xmlNode = nodelist[i].SelectNodes("y");
double lng = _mulitWaypointData.Origin.Lng + double.Parse(xmlNode[0].InnerXml) / OriginMeter.Lng;
PointLatLng Waypoint = new PointLatLng(lat, lng);
_mulitWaypointData.multi.Add(Waypoint);
xmlNode = nodelist[i].SelectNodes("height");
double alt = double.Parse(xmlNode[0].InnerXml);
_mulitWaypointData.malt.Add(alt);
xmlNode = nodelist[i].SelectNodes("psi");
double psi = double.Parse(xmlNode[0].InnerXml);
psi *= 180 / Math.PI; // rad->deg 変換
_mulitWaypointData.mpsi.Add(psi);
xmlNode = nodelist[i].SelectNodes("speed");
double speed = double.Parse(xmlNode[0].InnerXml);
_mulitWaypointData.mspeed.Add(speed);
xmlNode = nodelist[i].SelectNodes("accuracy");
double accuracy = double.Parse(xmlNode[0].InnerXml);
_mulitWaypointData.maccuracy.Add(accuracy);
xmlNode = nodelist[i].SelectNodes("wait");
double wait = double.Parse(xmlNode[0].InnerXml);
_mulitWaypointData.mwait.Add(wait);
xmlNode = nodelist[i].SelectNodes("func_id");
int func_id = int.Parse(xmlNode[0].InnerXml);
_mulitWaypointData.mfunc_id.Add(func_id);
}
// MulitWaypointデータの更新
_BindingData.MulitWaypoint = _mulitWaypointData;
}
