private static async void SendDeviceToCloudMessagesAsync()
{
double temperatura = 4; // °C
int umidita = 70; // %
Random rand = new Random();
while (true)
{
double temperaturaAttuale = temperatura + rand.NextDouble() * 2 - 1;
int umiditaAttuale = umidita + rand.Next(0, 20) - 10;
var telemetria = new Telemetria
{
Temperatura = temperaturaAttuale,
Umidita = umiditaAttuale,
DataEvento = DateTime.UtcNow
};
var messageString = JsonConvert.SerializeObject(telemetria);
var message = new Message(Encoding.ASCII.GetBytes(messageString));
await deviceClient.SendEventAsync(message);
Console.WriteLine("{0} > Sending message: {1}", DateTime.Now, messageString);
Task.Delay(1000).Wait();
}
}
public void Leggi(Telemetria telemetria)
{
if (telemetria.Temperatura > 10)
{
notificaAllarmi.NotificaTemperaturaTroppoAlta(telemetria.Temperatura);
}
}
public void StoricizzaValoriTelemetriaDeveAggiungereCorrettamenteGliOggettiTelemetria()
{
//arrange
DateTime datasalvataggio = DateTime.Now;
datasalvataggio = new DateTime(datasalvataggio.Year, datasalvataggio.Month, datasalvataggio.Day, datasalvataggio.Hour, datasalvataggio.Minute, datasalvataggio.Second);
Dispositivo dispositivo = new Dispositivo();
dispositivo.Descrizione = "Dispositivo di test";
Telemetria telemetria = new Telemetria();
telemetria.DataSalvataggio = datasalvataggio;
telemetria.DataEvento = DateTime.Now.AddSeconds(-30);
telemetria.Dispositivo = dispositivo;
StoricizzaValoriTelemetria storicizzavaloritelemetria = new StoricizzaValoriTelemetria();
//act
storicizzavaloritelemetria.Leggi(telemetria);
//assert
int numerorisultati;
using (Contesto contesto = new Contesto())
{
numerorisultati = contesto.Set <Telemetria>().Where(telemet => telemet.DataSalvataggio == telemetria.DataSalvataggio).Count();
}
Assert.AreEqual(1, numerorisultati);
}
/*
* Decodifica um payload do tipo TLM fazendo a conversão de uma lista de string para seu respectivo formato original
*/
private Telemetria decoderTLM(string[] list)
{
Telemetria telemetria = new Telemetria();
FieldFrame <double> lat = new FieldFrame <double>(INDEX.LAT, list, UNIT_FIELD.GRAU_SEXAGESIMAL);
FieldFrame <double> lng = new FieldFrame <double>(INDEX.LNG, list, UNIT_FIELD.GRAU_SEXAGESIMAL);
FieldFrame <Int32> a_x = new FieldFrame <Int32>(INDEX.ACCEL_X, list);
FieldFrame <Int32> a_y = new FieldFrame <Int32>(INDEX.ACCEL_Y, list);
FieldFrame <Int32> a_z = new FieldFrame <Int32>(INDEX.ACCEL_Z, list);
FieldFrame <double> g_x = new FieldFrame <double>(INDEX.ACCEL_XG, list);
FieldFrame <double> g_y = new FieldFrame <double>(INDEX.ACCEL_YG, list);
FieldFrame <double> g_z = new FieldFrame <double>(INDEX.ACCEL_ZG, list);
FieldFrame <Int32> speed = new FieldFrame <Int32>(INDEX.SPEED, list);
FieldFrame <UInt32> level = new FieldFrame <UInt32>(INDEX.LEVEL, list);
FieldFrame <bool> bLCk = new FieldFrame <bool>(INDEX.TRAVA, list);
FieldFrame <DateTime> dt = new FieldFrame <DateTime>(INDEX.TIME_STAMP_PL, list);
telemetria.setPosition(lat.getVal(), lng.getVal());
telemetria.setXYZ(a_x.getVal(), a_y.getVal(), a_z.getVal());
telemetria.setXYZ_G(g_x.getVal(), g_y.getVal(), g_z.getVal());
telemetria.Speed.Val = speed.getVal();
telemetria.Level.Val = level.getVal();
telemetria.StatusLock = bLCk.getVal();
telemetria.DateTime = dt.getVal();
return(telemetria);
}
public static void InviaMessaggio(Telemetria telemetria)
{
var context = GlobalHost.ConnectionManager.GetHubContext <TelemetriaHub>();
var nomeGruppo = String.Concat("dispositivo", telemetria.IdDispositivo);
context.Clients.Group(nomeGruppo).riceviMessaggio(telemetria);
}
public bool encode(out PayLoad payload, Telemetria b)
{
payload = new PayLoad();
payload.Append(b.Latitude);
payload.Append(CONST_CHAR.SEPARATOR);
payload.Append(b.Longitude);
payload.Append(CONST_CHAR.SEPARATOR);
payload.Append(b.AxisX.Val.Val);
payload.Append(CONST_CHAR.SEPARATOR);
payload.Append(b.AxisY.Val.Val);
payload.Append(CONST_CHAR.SEPARATOR);
payload.Append(b.AxisZ.Val.Val);
payload.Append(CONST_CHAR.SEPARATOR);
payload.Append(b.AxisX.Val_G.Val);
payload.Append(CONST_CHAR.SEPARATOR);
payload.Append(b.AxisY.Val_G.Val);
payload.Append(CONST_CHAR.SEPARATOR);
payload.Append(b.AxisZ.Val_G.Val);
payload.Append(CONST_CHAR.SEPARATOR);
payload.Append(b.Speed.Val);
payload.Append(CONST_CHAR.SEPARATOR);
payload.Append(b.Level.Val);
payload.Append(CONST_CHAR.SEPARATOR);
payload.Append(b.StatusLock);
payload.Append(CONST_CHAR.SEPARATOR);
payload.Append(Convert.ToString(b.getTimeStamp()));
return(true);
}
/*
* Atualiza as informacoes na tela sobre o sensor de nivel
*/
void updatelevel()
{
Telemetria telemetria = trackerController.getTelemetria();
if (telemetria == null)
{
lmin.Text = "---";
lmax.Text = "---";
lVal.Text = "---";
levelBar.Maximum = 100;
levelBar.Minimum = 0;
levelBar.Value = 0;
}
else
{
levelBar.Maximum = (int)telemetria.Level.Tol.Max;
levelBar.Minimum = (int)telemetria.Level.Tol.Min;
levelBar.Value = (int)telemetria.Level.Val;
lmin.Text = levelBar.Minimum.ToString();
lmax.Text = levelBar.Maximum.ToString();
lVal.Text = levelBar.Value.ToString();
}
}
/*************************************************************************
* CALL BACKS *
*************************************************************************/
/*
* Evento de recepcao de dados de telemetria
*
*/
private void onDataTelemetria(Telemetria telemetria)
{
// Atualiza o status da se esta dentro de alguma cerca
layerFence.PointIsInsidePolygon(telemetria);
// Atualiza lista de behaviors
bTV.Behaviors = trackerController.getBehaviorFiltered(bTV.Filter);
}
public ActionResult DeleteConfirmed(int id)
{
Telemetria telemetria = db.Telemetrias.Find(id);
db.Telemetrias.Remove(telemetria);
db.SaveChanges();
return(RedirectToAction("Index"));
}
public async Task <ActionResult> DeleteConfirmed(int id)
{
Telemetria telemetria = await db.Telemetrias.FindAsync(id);
db.Telemetrias.Remove(telemetria);
await db.SaveChangesAsync();
return(RedirectToAction("Index"));
}
public Telemetria Leggi(string messaggio)
{
Telemetria telemetria = JsonConvert.DeserializeObject <Telemetria>(messaggio);
foreach (var lettoreTelemetria in lettoriTelemetria)
{
lettoreTelemetria.Leggi(telemetria);
}
return(telemetria);
}
public async Task EnviarTelemetria(Telemetria telemetria)
{
if (Client != null)
{
var json = JsonConvert.SerializeObject(telemetria);
var mensaje = new Microsoft.Azure.Devices.Client.Message(
Encoding.ASCII.GetBytes(json));
await Client.SendEventAsync(mensaje);
}
}
public ActionResult Edit([Bind(Include = "ID,VueloID,Nombre,Valor")] Telemetria telemetria)
{
if (ModelState.IsValid)
{
db.Entry(telemetria).State = EntityState.Modified;
db.SaveChanges();
return(RedirectToAction("Index"));
}
ViewBag.VueloID = new SelectList(db.Vuelos, "ID", "Nombre", telemetria.VueloID);
return(View(telemetria));
}
public void Leggi(Telemetria telemetria)
{
using (Contesto contesto = new Contesto())
{
contesto.Set <Telemetria>().Add(telemetria);
contesto.SaveChanges();
}
//throw new NotImplementedException();
}
public ActionResult Create([Bind(Include = "ID,VueloID,Nombre,Valor")] Telemetria telemetria)
{
if (ModelState.IsValid)
{
db.Telemetrias.Add(telemetria);
db.SaveChanges();
return(RedirectToAction("Index"));
}
ViewBag.VueloID = new SelectList(db.Vuelos, "ID", "Nombre", telemetria.VueloID);
return(View(telemetria));
}
public static void CargaInicial(IServiceProvider serviceProvider)
{
using (var context = new RallyDbContexto(serviceProvider.GetRequiredService <DbContextOptions <RallyDbContexto> >()))
{
var temporada = new Temporada
{
Id = 1,
Nome = "Temporada2020",
//temporada.DataInicio = DateTime.Now.AddDays(20); Inicia daqui a 20 dias
DataInicio = DateTime.Now
};
var equipe = new Equipe
{
Id = 1,
Nome = "Azul",
CodigoIdentificador = "AZL"
};
var pilotoPedro = new Piloto
{
Id = 1,
Nome = "Pedro"
};
var pilotoCarlos = new Piloto
{
Id = 2,
Nome = "Carlos"
};
equipe.AdicionarPiloto(pilotoPedro);
equipe.AdicionarPiloto(pilotoCarlos);
temporada.AdicionarEquipe(equipe);
context.Temporadas.Add(temporada);
context.SaveChanges();
Telemetria telemetria = new Telemetria
{
Id = 1,
EquipeId = equipe.Id,
Data = DateTime.Now,
DataServidor = DateTime.Now
};
context.Telemetria.Add(telemetria);
context.SaveChanges();
}
}
public void Atualizar(Telemetria telemetria)
{
if (_rallyDbContexto.Entry(telemetria).State == Microsoft.EntityFrameworkCore.EntityState.Detached)
{
_rallyDbContexto.Attach(telemetria);
_rallyDbContexto.Entry(telemetria).State = Microsoft.EntityFrameworkCore.EntityState.Modified;
}
else
{
_rallyDbContexto.Update(telemetria);
}
_rallyDbContexto.SaveChanges();
}
public async Task <IHttpActionResult> Post(Telemetria telemetria)
{
telemetria.DataSalvataggio = DateTime.UtcNow;
using (var contesto = new Contesto())
{
contesto.Set <Telemetria>().Add(telemetria);
await contesto.SaveChangesAsync();
}
TelemetriaHub.InviaMessaggio(telemetria);
return(Ok(telemetria));
}
public void LeggiMessaggioDeveLeggereCorrettamenteValoriDiTemperaturaEUmidita()
{
//arrange
string messaggio = "{\"temperatura\": 4.5,\"umidita\": 75 }";
var leggiMessaggio = new LeggiMessaggio();
//act
Telemetria telemetria = leggiMessaggio.Leggi(messaggio);
//assert
Assert.AreEqual(4.5, telemetria.Temperatura);
Assert.AreEqual(75, telemetria.Umidita);
}
public void Update(Telemetria telemetria)
{
if (_dbContext.Entry(telemetria).State == Microsoft.EntityFrameworkCore.EntityState.Detached)
{
_dbContext.Attach(telemetria);
_dbContext.Entry(telemetria).State = Microsoft.EntityFrameworkCore.EntityState.Modified;
}
else
{
_dbContext.Update(telemetria);
}
_dbContext.SaveChanges();
}
// GET: Telemetria/Details/5
public async Task <ActionResult> Details(int?id)
{
if (id == null)
{
return(new HttpStatusCodeResult(HttpStatusCode.BadRequest));
}
Telemetria telemetria = await db.Telemetrias.FindAsync(id);
if (telemetria == null)
{
return(HttpNotFound());
}
return(View(telemetria));
}
// GET: Telemetrias/Delete/5
public ActionResult Delete(int?id)
{
if (id == null)
{
return(new HttpStatusCodeResult(HttpStatusCode.BadRequest));
}
Telemetria telemetria = db.Telemetrias.Find(id);
if (telemetria == null)
{
return(HttpNotFound());
}
return(View(telemetria));
}
// GET: Telemetria/Edit/5
public async Task <ActionResult> Edit(int?id)
{
if (id == null)
{
return(new HttpStatusCodeResult(HttpStatusCode.BadRequest));
}
Telemetria telemetria = await db.Telemetrias.FindAsync(id);
if (telemetria == null)
{
return(HttpNotFound());
}
ViewBag.VueloID = new SelectList(db.Vuelos, "VueloID", "Nombre", telemetria.VueloID);
return(View(telemetria));
}
public void SeLaTemperaturaMaggioreDi10GradiNotificaAllarme()
{
//arrange
var telemetria = new Telemetria {
Temperatura = 10.5
};
var notificaAllarmi = Substitute.For <INotificaAllarmi>();
var leggiMessaggio = new VerificaAllarmiTemperatura(notificaAllarmi);
//act
leggiMessaggio.Leggi(telemetria);
//assert
notificaAllarmi.Received().NotificaTemperaturaTroppoAlta(10.5);
}
/**
* Verifica se o veiculo se encontra dentro da cerca para liberacao da trava
*/
private void lckMng()
{
Telemetria telemetria = trackerController.getTelemetria();
if (telemetria != null)
{
if (telemetria.IsInsideOfFence())
{
trackerController.lockVehicle(lockVehicle);
}
else
{
trackerController.lockVehicle(true);
}
}
}
public async void EnviarTelemetria_Clicked(object sender, EventArgs e)
{
EnviarTelemetria.IsEnabled = false;
for (int i = 1; i < 6; i++)
{
var bateria = ServicioBateria.ObtenerBateriaActual();
var ubicacion = await ServicioUbicacion.ObtenerUbicacionActual();
if (bateria != null)
{
Bateria.Text = bateria.Porcentaje.ToString();
Status.Text = bateria.Status;
Fuente.Text = bateria.Fuente;
}
if (ubicacion != null)
{
Latitud.Text = ubicacion.Latitud.ToString();
Longitud.Text = ubicacion.Longitud.ToString();
}
if (bateria != null && ubicacion != null)
{
var telemetria = new Telemetria()
{
Bateria = bateria,
Ubicacion = ubicacion,
Fecha = DateTime.UtcNow
};
EnviarTelemetria.Text = $"Enviando dato {i}...";
await hub.EnviarTelemetria(telemetria);
EnviarTelemetria.Text = $"Dato {i} enviado!!";
}
await Task.Delay(15000);
}
await DisplayAlert("IoTHub", "Mensajes enviados al hub", "OK");
EnviarTelemetria.IsEnabled = true;
}
/*
* Atualiza as informacoes na tela sobre a trava
*/
void updateStatusLock()
{
Telemetria telemetria = trackerController.getTelemetria();
if (telemetria == null)
{
labelStatusLock.BackColor = Color.Gray;
labelStatusLock.Text = "---";
}
else if (telemetria.StatusLock)
{
labelStatusLock.BackColor = Color.Red;
labelStatusLock.Text = "LOCK";
}
else
{
labelStatusLock.BackColor = Color.Green;
labelStatusLock.Text = "UNLOCK";
}
}
static Telemetria createTelemetriaData()
{
Telemetria b = new Telemetria();
if (TrackerController.TrackerCtrl.anyRoute() &&
TrackerController.TrackerCtrl.Routes[0].MapRoute.Points.Count > count_publish)
{
Random rnd = new Random();
PointLatLng p = TrackerController.TrackerCtrl.Routes[0].MapRoute.Points[count_publish++];
b.setPosition(AsGrauSexagesimal(p.Lat) * 100, AsGrauSexagesimal(p.Lng) * 100);
b.setXYZ(rnd.Next(0, 4), rnd.Next(0, 4095), rnd.Next(0, 4095));
b.setXYZ_G(rnd.Next(-120, 120) / 100.0, rnd.Next(-120, 120) / 100.0, rnd.Next(-120, 120) / 100.0);
b.setSpeed(rnd.Next(40, 120));
b.setLevel(rnd.Next(5000, 32000));
b.DateTime = DateTime.Now;
}
return(b);
}
/*
* Atualiza as informacoes na tela sobre a cerca virtual
*/
void updateStatusFence()
{
Telemetria telemetria = trackerController.getTelemetria();
if (telemetria == null)
{
lFence.BackColor = Color.Gray;
btn_unlock.Enabled = false;
}
else if (telemetria.IsInsideOfFence())
{
lFence.BackColor = Color.Green;
btn_unlock.Enabled = true;
}
else
{
lFence.BackColor = Color.Red;
btn_unlock.Enabled = false;
}
}
internal bool PointIsInsidePolygon(Telemetria data)
{
bool ret = false;
if (data != null)
{
PointLatLng p = new PointLatLng(data.Latitude, data.Longitude);
int i = 0;
foreach (GMapPolygon poly in mapOverlay.Polygons)
{
data.setInsideOfFence(i++, poly.IsInside(p));
if (data.IsInsideOfFence())
{
ret = true;
}
}
}
return(ret);
}
public void FromRegistry()
{
RegistryKey key = Registry.CurrentUser.OpenSubKey(registryPath);
if (key != null)
{
try
{
this.GoogleMapsCookie = (string)key.GetValue("GoogleMapsCookie");
this.HomeLon = float.Parse(key.GetValue("HomeLon").ToString(),CultureInfo.InvariantCulture);
this.HomeLat = float.Parse(key.GetValue("HomeLat").ToString(), CultureInfo.InvariantCulture);
this.HomeAlt = float.Parse(key.GetValue("HomeAlt").ToString(), CultureInfo.InvariantCulture);
this.videoCaptureStr = (string)key.GetValue("VideoCaptureStr");
this.telemetria = (Telemetria)key.GetValue("Telemetry");
this.videosystem = (VideoSystem)key.GetValue("VideoSystem");
this.commPort = (string)key.GetValue("CommPort");
this.commBps = (int)key.GetValue("CommBauds");
this.CacheMapsPath = (string)key.GetValue("CacheMapsPath");
this.FlightLogPath = (string)key.GetValue("FlightLogPath");
this.cells1 = (int)key.GetValue("CellCount1");
this.cells2 = (int)key.GetValue("CellCount2");
this.moduloTX = (Singleton.ModuloControl)(int)key.GetValue("ModuloTX");
try
{
for (int i = 0; i < servo_ch.Length; i++)
{
this.servo_min[i] = (int)key.GetValue("ServoMin" + i);
this.servo_center[i] = (int)key.GetValue("ServoCenter" + i);
this.servo_max[i] = (int)key.GetValue("ServoMax" + i);
this.servo_rev[i] = (int)key.GetValue("ServoRev" + i) == 1;
this.servo_ch[i] = (byte)((int)key.GetValue("ServoCh" + i));
}
for (int i = 0; i < 16; i++)
{
this.joy_buttons[i] = (byte)((int)key.GetValue("JoyButtom" + i));
}
this.tipo_mezcla = (Mezclas)key.GetValue("TipoMezcla");
// this.tipo_control = (ModoControl)key.GetValue("TipoControl");
this.rev_mix = (int)key.GetValue("rev_mix") == 1;
this.rev_flap = (int)key.GetValue("rev_flap") == 1;
this.full_flap = float.Parse(key.GetValue("full_flap").ToString());
this.step_flap = float.Parse(key.GetValue("step_flap").ToString());
this.pantilt_speed = float.Parse(key.GetValue("pantilt_speed").ToString());
this.enable_axis = (int)key.GetValue("AXISenable") == 1;
this.enable_pan = (int)key.GetValue("PANenable") == 1;
this.enable_tilt = (int)key.GetValue("TILTenable") == 1;
this.enable_headtrack = (int)key.GetValue("enable_headtrack") == 1;
object pepe = key.GetValue("headtrack_panCh");
this.headtrack_panCh = (byte)((int)key.GetValue("headtrack_panCh"));
this.headtrack_tiltCh = (byte)((int)key.GetValue("headtrack_tiltCh"));
this.uplinkVmax = float.Parse(key.GetValue("uplinkVmax").ToString(), CultureInfo.InvariantCulture);
this.uplinkVmin = float.Parse(key.GetValue("uplinkVmin").ToString(), CultureInfo.InvariantCulture);
this.uplinkValarm = float.Parse(key.GetValue("uplinkValarm").ToString(), CultureInfo.InvariantCulture);
this.uplinkLipo = (int)key.GetValue("uplinkLipo") == 1;
this.uplinkNumCells = (int)key.GetValue("uplinkNumCells");
this.useEmisora = (int)key.GetValue("useEmisora") == 1;
this.txNumCanales = (byte)((int)key.GetValue("txNumCanales")); ;
this.txPeriodo = (int)key.GetValue("txPeriodo"); ;
this.txSeparador = (int)key.GetValue("txSeparador");
this.txPolarity = (int)key.GetValue("txPolarity") == 1;
}
catch (Exception) { };
//Configuracion joystick
try
{
this.Idioma = (int)key.GetValue("Language");
this.SistemaMetrico = (int)key.GetValue("SistemaMetrico");
}
catch (Exception) { }
this.NombrePiloto = key.GetValue("NombrePiloto").ToString();
this.portUDPinout = (int)key.GetValue("portUDPinout");
this.portWebServer = (int)key.GetValue("portWebServer");
this.enableWebServer = (int)key.GetValue("enableWebServer") == 1;
this.enableUDPinout = (int)key.GetValue("enableUDPinout") == 1;
try
{
this.AlarmAltitude_enabled = (int)key.GetValue("AlarmAltitude_enabled") == 1;
this.AlarmAltitude = float.Parse(key.GetValue("AlarmAltitude").ToString(), CultureInfo.InvariantCulture);
this.AlarmAscenso_enabled = (int)key.GetValue("AlarmAscenso_enabled") == 1;
this.AlarmAscenso = float.Parse(key.GetValue("AlarmAscenso").ToString(), CultureInfo.InvariantCulture);
this.AlarmCellVoltage_enabled = (int)key.GetValue("AlarmCellVoltage_enabled") == 1;
this.AlarmCellVoltage = float.Parse(key.GetValue("AlarmCellVoltage").ToString(), CultureInfo.InvariantCulture);
this.AlarmDistance_enabled = (int)key.GetValue("AlarmDistance_enabled") == 1;
this.AlarmDistance = float.Parse(key.GetValue("AlarmDistance").ToString(), CultureInfo.InvariantCulture);
this.AlarmFastDescentRate_enabled = (int)key.GetValue("AlarmFastDescentRate_enabled") == 1;
this.AlarmFastDescentRate = float.Parse(key.GetValue("AlarmFastDescentRate").ToString(), CultureInfo.InvariantCulture);
}
catch (Exception) { };
try
{
this.enableAntTrack = (int)key.GetValue("enableAntTrack") == 1;
this.enableCasaAntTrack = (int)key.GetValue("enaleCasaAntTrack")==1;
} catch (Exception){};
try
{
for (int i = 0; i < asignaciones.Length; i++)
{
this.asignaciones[i] = (int)key.GetValue("TeclaAsignada" + i);
}
}
catch (Exception) { };
try
{
// Uplink debug values
this.uplink_pid_ail_P = float.Parse(key.GetValue("uplink_pid_ail_P").ToString(), CultureInfo.InvariantCulture);
this.uplink_pid_ail_I = float.Parse(key.GetValue("uplink_pid_ail_I").ToString(), CultureInfo.InvariantCulture);
this.uplink_pid_ail_D = float.Parse(key.GetValue("uplink_pid_ail_D").ToString(), CultureInfo.InvariantCulture);
this.uplink_pid_ail_IL = float.Parse(key.GetValue("uplink_pid_ail_IL").ToString(), CultureInfo.InvariantCulture);
this.uplink_pid_ail_DL = float.Parse(key.GetValue("uplink_pid_ail_DL").ToString(), CultureInfo.InvariantCulture);
this.uplink_pid_ele_P = float.Parse(key.GetValue("uplink_pid_ele_P").ToString(), CultureInfo.InvariantCulture);
this.uplink_pid_ele_I = float.Parse(key.GetValue("uplink_pid_ele_I").ToString(), CultureInfo.InvariantCulture);
this.uplink_pid_ele_D = float.Parse(key.GetValue("uplink_pid_ele_D").ToString(), CultureInfo.InvariantCulture);
this.uplink_pid_ele_IL = float.Parse(key.GetValue("uplink_pid_ele_IL").ToString(), CultureInfo.InvariantCulture);
this.uplink_pid_ele_DL = float.Parse(key.GetValue("uplink_pid_ele_DL").ToString(), CultureInfo.InvariantCulture);
this.uplink_pid_thr_P = float.Parse(key.GetValue("uplink_pid_thr_P").ToString(), CultureInfo.InvariantCulture);
this.uplink_pid_thr_I = float.Parse(key.GetValue("uplink_pid_thr_I").ToString(), CultureInfo.InvariantCulture);
this.uplink_pid_thr_D = float.Parse(key.GetValue("uplink_pid_thr_D").ToString(), CultureInfo.InvariantCulture);
this.uplink_pid_thr_IL = float.Parse(key.GetValue("uplink_pid_thr_IL").ToString(), CultureInfo.InvariantCulture);
this.uplink_pid_thr_DL = float.Parse(key.GetValue("uplink_pid_thr_DL").ToString(), CultureInfo.InvariantCulture);
this.uplink_pid_tail_P = float.Parse(key.GetValue("uplink_pid_tail_P").ToString(), CultureInfo.InvariantCulture);
this.uplink_pid_tail_I = float.Parse(key.GetValue("uplink_pid_tail_I").ToString(), CultureInfo.InvariantCulture);
this.uplink_pid_tail_D = float.Parse(key.GetValue("uplink_pid_tail_D").ToString(), CultureInfo.InvariantCulture);
this.uplink_pid_tail_IL = float.Parse(key.GetValue("uplink_pid_tail_IL").ToString(), CultureInfo.InvariantCulture);
this.uplink_pid_tail_DL = float.Parse(key.GetValue("uplink_pid_tail_DL").ToString(), CultureInfo.InvariantCulture);
this.uplink_IR_offX = float.Parse(key.GetValue("uplink_IR_offX").ToString(), CultureInfo.InvariantCulture);
this.uplink_IR_offY = float.Parse(key.GetValue("uplink_IR_offY").ToString(), CultureInfo.InvariantCulture);
this.uplink_IR_gain = float.Parse(key.GetValue("uplink_IR_gain").ToString(), CultureInfo.InvariantCulture);
this.uplink_rumbo_ail = float.Parse(key.GetValue("uplink_rumbo_ail").ToString(), CultureInfo.InvariantCulture);
this.uplink_altura_ele = float.Parse(key.GetValue("uplink_altura_ele").ToString(), CultureInfo.InvariantCulture);
this.uplink_IR_rev_P = (int)key.GetValue("uplink_IR_rev_P") == 1;
this.uplink_IR_rev_R = (int)key.GetValue("uplink_IR_rev_R") == 1;
this.uplink_IR_cross = (int)key.GetValue("uplink_IR_cross") == 1;
this.uplink_IR_rev_cross = (int)key.GetValue("uplink_IR_rev_cross")==1;
}
catch (Exception) { };
this.PicturePath = (string)key.GetValue("PicturePath", "C:\\Fotos");
this.VideosPath = (string)key.GetValue("VideosPath", "C:\\Videos");
try
{
this.trocearVideo = (int)key.GetValue("trocearVideo") == 1;
this.trocearTamMB = (int)key.GetValue("trocearTamMB");
this.calidadVideo = (int)key.GetValue("calidadVideo");
this.fpsVideo = (int)key.GetValue("fpsVideo");
}
catch (Exception) { };
}
catch (Exception)
{
}
}
else
Registry.CurrentUser.CreateSubKey(registryPath);
}
protected Singleton()
{
asignaciones = new int[Enum.GetNames(typeof(EventosJoy)).Length - 1];
Ruta = new List<WayPoint>();
commPort = "";
videoCaptureStr = "";
HomeLon = -6.0345f;
HomeLat = 37.2342f;
HomeAlt = 100.0f;
telemetria = Telemetria.Video;
videosystem = VideoSystem.PAL;
this.NombrePiloto = "Ikarus";
this.enableUDPinout = false;
this.enableWebServer = false;
this.portWebServer = 8080;
this.portUDPinout = 9500;
this.Idioma = 0; // Español
this.SistemaMetrico = 0; // Metrico
this.servo_ch = new byte[8];
this.servo_min = new int[servo_ch.Length];
this.servo_center = new int[servo_ch.Length];
this.servo_max = new int[servo_ch.Length];
this.servo_rev = new bool[servo_ch.Length];
for (int i = 0; i < servo_ch.Length; i++)
{
this.servo_min[i] = 1000;
this.servo_center[i] = 1500;
this.servo_max[i] = 2000;
this.servo_rev[i] = false;
this.servo_ch[i] = (byte)i;
}
this.joy_buttons = new byte[16];
for (int i = 0; i < 16; i++)
{
this.joy_buttons[i] = 0;
}
this.tipo_mezcla = Mezclas.Normal;
// this.tipo_control = ModoControl.MODO_MODEM;
this.rev_mix = false;
this.rev_flap = false;
this.full_flap = 1.0f;
this.step_flap = 0.1f;
this.pantilt_speed = 1.0f;
this.AlarmAltitude_enabled = false;
this.AlarmAscenso_enabled = false;
this.AlarmCellVoltage_enabled = false;
this.AlarmDistance_enabled = false;
this.AlarmFastDescentRate_enabled = false;
this.AlarmAltitude = 80.0f;
this.AlarmAscenso = 5.0f;
this.AlarmCellVoltage = 3.5f;
this.AlarmDistance = 1000.0f;
this.AlarmFastDescentRate = 10.0f;
this.enable_headtrack = false;
this.headtrack_panCh = 0;
this.headtrack_tiltCh = 1;
this.uplinkVmax = 12.6f;
this.uplinkVmin = 9.6f;
this.uplinkValarm = 10.0f;
this.uplinkLipo = true;
this.uplinkNumCells = 3;
this.enableAntTrack = false;
this.enableCasaAntTrack = false;
this.useEmisora = true;
this.txNumCanales = 8;
this.txPeriodo = 20000;
this.txSeparador = 400;
this.txPolarity = false;
// Uplink debug values
this.uplink_pid_ail_P=0.02f;
this.uplink_pid_ail_I=0.0f;
this.uplink_pid_ail_D=0.0f;
this.uplink_pid_ail_IL=0.0f;
this.uplink_pid_ail_DL=1.0f;
this.uplink_pid_ele_P=0.02f;
this.uplink_pid_ele_I=0.0f;
this.uplink_pid_ele_D=0.0f;
this.uplink_pid_ele_IL=0.0f;
this.uplink_pid_ele_DL=1.0f;
this.uplink_pid_thr_P=0.02f;
this.uplink_pid_thr_I=0.0f;
this.uplink_pid_thr_D=0.0f;
this.uplink_pid_thr_IL=0.0f;
this.uplink_pid_thr_DL=1.0f;
this.uplink_pid_tail_P=0.02f;
this.uplink_pid_tail_I=0.0f;
this.uplink_pid_tail_D=0.0f;
this.uplink_pid_tail_IL=0.0f;
this.uplink_pid_tail_DL=1.0f;
this.uplink_IR_offX=1.66f;
this.uplink_IR_offY = 1.66f;
this.uplink_IR_gain = 1.14f;
this.uplink_rumbo_ail = 20.0f;
this.uplink_altura_ele = 10.0f;
this.uplink_IR_rev_P = false;
this.uplink_IR_rev_R = false;
this.uplink_IR_cross = false;
this.uplink_IR_rev_cross = false;
this.trocearVideo = false;
this.trocearTamMB = 1024;
this.calidadVideo = 50;
this.fpsVideo = 15;
FromRegistry();
}
