private void UpdateButtons()
{
UiDispatcher.RunOnUIThread(() =>
{
ShowMapButton.Visibility = Visibility.Visible;
});
}
private void DiffBaseline(TestModel model)
{
string path = model.Path;
model.Baseline = FindBaseline(path);
string newBaseLine = System.IO.Path.Combine(model.Path, settings.ErrorLogName);
string oldBaseLine = System.IO.Path.Combine(model.Baseline, settings.BaselineName);
if (File.Exists(newBaseLine) && !File.Exists(oldBaseLine))
{
MessageBox.Show(this, model.Path + "\n\nThis test baseline cannot be fixed because it was not supposed to pass.", "Unexpected Baseline", MessageBoxButton.OK, MessageBoxImage.Error);
FailedTestList.SelectedIndex++;
return;
}
else if (!File.Exists(newBaseLine) && File.Exists(oldBaseLine))
{
MessageBox.Show(this, model.Path + "\n\nThis test baseline cannot be fixed because the test couldn't run.", "Missing Baseline", MessageBoxButton.OK, MessageBoxImage.Error);
FailedTestList.SelectedIndex++;
return;
}
Task.Run(() =>
{
string args = string.Format("\"{0}\" \"{1}\"", newBaseLine, oldBaseLine);
Process windiff = Process.Start(new ProcessStartInfo(settings.WindiffPath, args));
windiff.WaitForExit();
UiDispatcher.RunOnUIThread(() =>
{
PromptUser(model);
});
});
}
void Backup(bool shutdown)
{
ConsoleTextBox.Document.Blocks.Clear();
this._errors = new ErrorLog();
this.cancel = new CancellationTokenSource();
Task.Run(() =>
{
try
{
backup.Run(this._log, this._errors, cancel);
}
catch (Exception ex)
{
backup.Error = ex.Message;
backup.Running = false;
backup.Complete = true;
this._log.WriteLine(ex.Message);
}
if (shutdown)
{
backup.Shutdown();
UiDispatcher.RunOnUIThread(ShowCancelShutdown);
}
UiDispatcher.RunOnUIThread(OnBackupComplete);
});
}
private async Task LoadJSonFile(string file)
{
try
{
UiDispatcher.RunOnUIThread(() =>
{
SystemConsole.Show();
});
AppendMessage("Loading " + file);
ShowStatus("Loading " + file);
JSonDataLog data = new JSonDataLog();
await data.Load(file, progress);
//logs.Add(data);
ShowSchema();
LoadFlights(data);
}
catch (Exception ex)
{
AppendMessage("### Error loading json file: " + ex.Message);
}
ShowStatus("Done Loading " + file);
UpdateButtons();
}
private async Task LoadMavlinkFile(string file)
{
try
{
UiDispatcher.RunOnUIThread(() =>
{
SystemConsole.Show();
});
AppendMessage("Loading " + file);
ShowStatus("Loading " + file);
MavlinkLog data = new MavlinkLog();
await data.Load(file, progress);
logs.Add(data);
ShowSchema();
Debug.WriteLine(data.StartTime.ToString());
LoadFlights(data);
// remember successfully loaded log file.
Settings settings = await((App)App.Current).LoadSettings();
settings.LastLogFile = file;
await settings.SaveAsync();
}
catch (Exception ex)
{
AppendMessage("### Error loading log: " + ex.Message);
}
ShowStatus("Done Loading " + file);
UpdateButtons();
}
bool HandleUnhandledException(object exceptionObject)
{
Exception ex = exceptionObject as Exception;
string message = null;
string details = null;
if (ex == null && exceptionObject != null)
{
message = exceptionObject.GetType().FullName;
details = exceptionObject.ToString();
}
else
{
message = ex.Message;
details = ex.ToString();
}
try
{
UiDispatcher.RunOnUIThread(() =>
{
MessageBoxEx.Show(message, "Unhandled Exception", details, MessageBoxButton.OK, MessageBoxImage.Error);
});
return(true);
}
catch (Exception)
{
// hmmm, if we can't show the dialog then perhaps this is some sort of stack overflow.
// save the details to a file, terminate the process and
}
return(false);
}
private void ShowSchema()
{
UiDispatcher.RunOnUIThread(() =>
{
LogItemSchema schema = null;
// todo: compute combined schema for selected logs, but for now just show the first one.
if (this.currentFlightLog != null)
{
schema = currentFlightLog.Schema;
}
else if (this.logs.Count > 0)
{
schema = this.logs[0].Schema;
}
if (schema == null || schema.ChildItems == null || schema.ChildItems.Count == 0)
{
CategoryList.ItemsSource = null;
}
else
{
// todo: compute combined schema for selected logs, but for now just show the first one.
List <LogItemSchema> list = new List <Model.LogItemSchema>(schema.ChildItems);
list.Sort((a, b) => { return(string.Compare(a.Name, b.Name, StringComparison.OrdinalIgnoreCase)); });
CategoryList.ItemsSource = list;
}
});
}
private void ShowStatus(string message)
{
UiDispatcher.RunOnUIThread(() =>
{
StatusText.Text = message;
});
}
private void LoadFlights(IDataLog data)
{
UiDispatcher.RunOnUIThread(() =>
{
// add flights
Flight entireLog = new Flight()
{
Name = "Log " + logs.Count,
StartTime = data.StartTime,
Duration = data.Duration
};
allFlights.Add(entireLog);
foreach (var flight in data.GetFlights())
{
flight.Name = "Flight " + allFlights.Count;
allFlights.Add(flight);
AppendMessage("Motor started at {0} and ran for {1} ", flight.StartTime, flight.Duration);
}
if (myMap.Visibility == Visibility.Visible)
{
ShowMap();
}
});
}
private void FiterEventTextChanged(string filter)
{
if (FilterValueChanged != null)
{
UiDispatcher.RunOnUIThread(() =>
{
this.FilterValueChanged(this, filter);
});
}
}
private async Task LoadMavlinkFile(string file)
{
try
{
UiDispatcher.RunOnUIThread(() =>
{
SystemConsole.Show();
});
AppendMessage("Loading " + file);
ShowStatus("Loading " + file);
MavlinkLog data = new MavlinkLog();
await data.Load(file, progress);
logs.Add(data);
ShowSchema();
Debug.WriteLine(data.StartTime.ToString());
UiDispatcher.RunOnUIThread(() =>
{
foreach (var flight in data.GetFlights())
{
flight.Name = "Flight " + allFlights.Count;
allFlights.Add(flight);
AppendMessage("Motor started at {0} and ran for {1} ", flight.StartTime, flight.Duration);
}
if (myMap.Visibility == Visibility.Visible)
{
ShowMap();
}
foreach (var text in data.GetStatusMessages())
{
SystemConsole.Write(text + "\n");
}
ShowTotalFlightTime();
});
// remember successfully loaded log file.
Settings settings = await((App)App.Current).LoadSettings();
settings.LastLogFile = file;
await settings.SaveAsync();
}
catch (Exception ex)
{
AppendMessage("### Error loading log: " + ex.Message);
}
ShowStatus("Done Loading " + file);
UpdateButtons();
}
private async Task LoadBinaryFile(string file)
{
try
{
UiDispatcher.RunOnUIThread(() =>
{
SystemConsole.Show();
});
AppendMessage("Loading " + file);
ShowStatus("Loading " + file);
Px4DataLog data = new Px4DataLog();
await data.Load(file, progress);
logs.Add(data);
ShowSchema();
UiDispatcher.RunOnUIThread(() =>
{
// add flights
Flight entireLog = new Flight()
{
Name = "Log " + logs.Count,
StartTime = data.StartTime,
Duration = data.Duration
};
allFlights.Add(entireLog);
foreach (var flight in data.GetFlights())
{
flight.Name = "Flight " + allFlights.Count;
allFlights.Add(flight);
AppendMessage("Motor started at {0} and ran for {1} ", flight.StartTime, flight.Duration);
}
if (myMap.Visibility == Visibility.Visible)
{
ShowMap();
}
ShowTotalFlightTime();
});
// remember successfully loaded log file.
Settings settings = await((App)App.Current).LoadSettings();
settings.LastLogFile = file;
await settings.SaveAsync();
}
catch (Exception ex)
{
AppendMessage("### Error loading log: " + ex.Message);
}
ShowStatus("Done Loading " + file);
UpdateButtons();
}
private void OpenAudioFile(string fileName)
{
this.isRecording = true;
string wavFile = null;
this.samples = new List <float>();
if (System.IO.Path.GetExtension(fileName).ToLowerInvariant() == ".wav")
{
wavFile = fileName;
}
else
{
// then we'll load the audio and convert it to a wav file.
wavFile = GetNextWavFileName();
}
try
{
this.recording = new AudioRecording(fileName, wavFile, (s, sample) =>
{
// handle PCM data on background thread
UiDispatcher.RunOnUIThread(new Action(() =>
{
if (sample.Error != null)
{
ShowStatus(sample.Error);
StopRecording();
}
else
{
if (this.isRecording)
{
CollectSamples(sample);
}
if (sample.Closed)
{
StopRecording();
}
else
{
this.recording.ReadNextFrame();
}
}
}));
});
}
catch (Exception ex)
{
ShowStatus(ex.Message);
}
SetButtonState();
}
private void AppendMessage(string message, params object[] args)
{
UiDispatcher.RunOnUIThread(() =>
{
if (args == null || args.Length == 0)
{
SystemConsole.Write(message + "\n");
}
else
{
SystemConsole.Write(string.Format(message, args) + "\n");
}
});
}
private void OnFlightSelected(object sender, SelectionChangedEventArgs e)
{
UiDispatcher.RunOnUIThread(() =>
{
if (myMap.Visibility == Visibility.Visible)
{
ShowMap();
}
else
{
// todo: show sensor data pruned to this flight time...
foreach (LogItemSchema item in CategoryList.SelectedItems)
{
if (item.ChildItems == null || item.ChildItems.Count == 0)
{
GraphItem(item);
}
}
}
});
}
void OnDispatcherUnhandledException(object sender, DispatcherUnhandledExceptionEventArgs e)
{
if (handlingException)
{
e.Handled = false;
}
else
{
handlingException = true;
UiDispatcher.RunOnUIThread(new Action(() =>
{
try
{
e.Handled = HandleUnhandledException(e.Exception);
}
catch (Exception)
{
}
handlingException = false;
}));
}
}
private void FetchNextHole(mavlink_log_data_t?downloaded)
{
bool next = false;
if (downloaded == null)
{
next = true;
}
else
{
holeCount += downloaded.Value.count;
if (holeCount == hole.Item2)
{
// done!, get the next one.
next = true;
}
}
if (next && holes.Count > 0)
{
holeCount = 0;
hole = holes[0];
holes.RemoveAt(0);
Debug.WriteLine("Filling hole at {0}, size {1}", hole.Item1, hole.Item2);
RequestLogData(selectedEntry.id, hole.Item1, hole.Item2);
if (!verifying)
{
verifying = true;
UiDispatcher.RunOnUIThread(() =>
{
DownloadStatus.Text = "verifying...";
});
}
}
else
{
// we should be done, the CheckDone will fine out for sure after we resort the data and check for holes again...
}
}
private void OnMessageReceived(object sender, MavLinkMessage e)
{
if (e.MsgId == MAVLINK_MSG_ID.LOG_ENTRY)
{
if (e.TypedPayload is mavlink_log_entry_t)
{
List <LogEntryModel> list = new List <LogEntryModel>();
mavlink_log_entry_t entry = (mavlink_log_entry_t)e.TypedPayload;
UiDispatcher.RunOnUIThread(() =>
{
logList.Add(new LogEntryModel(entry));
delayedActions.CancelDelayedAction("GetList");
});
}
}
else if (e.MsgId == MAVLINK_MSG_ID.LOG_DATA)
{
if (e.TypedPayload is mavlink_log_data_t)
{
var logdata = (mavlink_log_data_t)e.TypedPayload;
if (logdata.id == selectedEntry.id)
{
lock (data)
{
lastChunkTime = Environment.TickCount;
totalDownloaded += logdata.count;
data.Add(logdata);
}
if (holes.Count > 0)
{
FetchNextHole(logdata);
}
}
}
}
}
private void OnRecord(object sender, RoutedEventArgs e)
{
this.samples = new List <float>();
this.isRecording = true;
string filename = GetNextWavFileName();
try
{
this.recording = this.selectedDevice.StartRecording(filename, (s, sample) =>
{
// handle PCM data on background thread
//
UiDispatcher.RunOnUIThread(new Action(() =>
{
if (this.isRecording)
{
CollectSamples(sample);
}
if (sample.Error != null)
{
ShowStatus(sample.Error);
}
else if (!sample.Closed)
{
// keep pumping no matter what so we don't get any buffering on next recording.
this.recording.ReadNextFrame();
}
}));
});
}
catch (Exception ex)
{
ShowStatus(ex.Message);
}
SetButtonState();
}
private void CheckDone()
{
if (checking)
{
return;
}
checking = true;
try
{
bool foundHole = false;
uint pos = 0;
var holes = new List <Tuple <uint, uint> >();
lock (data)
{
// sort packets in order of ofs.
data.Sort((a, b) => { return((int)a.ofs - (int)b.ofs); });
foreach (var e in data.ToArray())
{
if (e.ofs < pos)
{
// duplicate?
data.Remove(e);
}
else if (e.ofs != pos)
{
// we have a hole!!
foundHole = true;
holes.Add(new Tuple <uint, uint>(pos, e.ofs - pos));
pos = e.ofs + e.count;
}
else
{
pos += e.count;
}
}
}
if (!foundHole)
{
if (selectedEntry.size <= totalDownloaded)
{
// ok, we're done!
Debug.WriteLine("Log is complete!");
if (!complete)
{
complete = true;
UiDispatcher.RunOnUIThread(() =>
{
StopProgress();
OnSaveLog();
});
}
}
}
else
{
this.holes = holes;
FetchNextHole(null);
}
}
finally
{
checking = false;
}
}
private void OnMavlinkMessageReceived(object sender, MavLinkMessage e)
{
if (currentFlightLog != null && !pauseRecording)
{
currentFlightLog.AddMessage(e);
}
switch (e.MsgId)
{
case MAVLink.MAVLINK_MSG_ID.ATTITUDE_QUATERNION:
{
var payload = (MAVLink.mavlink_attitude_quaternion_t)e.TypedPayload;
var q = new System.Windows.Media.Media3D.Quaternion(payload.q1, payload.q2, payload.q3, payload.q4);
UiDispatcher.RunOnUIThread(() =>
{
//ModelViewer.ModelAttitude = initialAttitude * q;
});
break;
}
case MAVLink.MAVLINK_MSG_ID.ATTITUDE:
{
var payload = (MAVLink.mavlink_attitude_t)e.TypedPayload;
Quaternion y = new Quaternion(new Vector3D(0, 0, 1), -payload.yaw * 180 / Math.PI);
Quaternion x = new Quaternion(new Vector3D(1, 0, 0), payload.pitch * 180 / Math.PI);
Quaternion z = new Quaternion(new Vector3D(0, 1, 0), payload.roll * 180 / Math.PI);
UiDispatcher.RunOnUIThread(() =>
{
ModelViewer.ModelAttitude = initialAttitude * (y * x * z);
});
break;
}
case MAVLink.MAVLINK_MSG_ID.HIL_STATE_QUATERNION:
{
var payload = (MAVLink.mavlink_hil_state_quaternion_t)e.TypedPayload;
Quaternion q = new Quaternion(payload.attitude_quaternion[0],
payload.attitude_quaternion[1],
payload.attitude_quaternion[2],
payload.attitude_quaternion[3]);
UiDispatcher.RunOnUIThread(() =>
{
ModelViewer.ModelAttitude = initialAttitude * q;
});
break;
}
case MAVLink.MAVLINK_MSG_ID.GLOBAL_POSITION_INT:
{
var payload = (MAVLink.mavlink_global_position_int_t)e.TypedPayload;
UiDispatcher.RunOnUIThread(() =>
{
MapLocation((double)payload.lat / 1e7, (double)payload.lon / 1e7);
});
break;
}
case MAVLink.MAVLINK_MSG_ID.SERIAL_CONTROL:
{
var ctrl = (MAVLink.mavlink_serial_control_t)e.TypedPayload;
if (ctrl.count > 0)
{
string text = System.Text.Encoding.ASCII.GetString(ctrl.data, 0, ctrl.count);
UiDispatcher.RunOnUIThread(() =>
{
SystemConsole.Write(text);
});
}
break;
}
case MAVLink.MAVLINK_MSG_ID.DATA_TRANSMISSION_HANDSHAKE:
if (showImageStream)
{
var p = (MAVLink.mavlink_data_transmission_handshake_t)e.TypedPayload;
incoming_image.size = p.size;
incoming_image.packets = p.packets;
incoming_image.payload = p.payload;
incoming_image.quality = p.jpg_quality;
incoming_image.type = p.type;
incoming_image.width = p.width;
incoming_image.height = p.height;
incoming_image.start = Environment.TickCount;
incoming_image.packetsArrived = 0;
incoming_image.data = new byte[incoming_image.size];
}
break;
case MAVLink.MAVLINK_MSG_ID.ENCAPSULATED_DATA:
if (showImageStream)
{
var img = (MAVLink.mavlink_encapsulated_data_t)e.TypedPayload;
int seq = img.seqnr;
uint pos = (uint)seq * (uint)incoming_image.payload;
// Check if we have a valid transaction
if (incoming_image.packets == 0 || incoming_image.size == 0)
{
// not expecting an image?
incoming_image.packetsArrived = 0;
break;
}
uint available = (uint)incoming_image.payload;
if (pos + available > incoming_image.size)
{
available = incoming_image.size - pos;
}
Array.Copy(img.data, 0, incoming_image.data, pos, available);
progress.ShowProgress(0, incoming_image.size, pos + available);
++incoming_image.packetsArrived;
//Debug.WriteLine("packet {0} of {1}, position {2} of {3}", incoming_image.packetsArrived, incoming_image.packets,
// pos + available, incoming_image.size);
// emit signal if all packets arrived
if (pos + available >= incoming_image.size)
{
// Restart state machine
incoming_image.packets = 0;
incoming_image.packetsArrived = 0;
byte[] saved = incoming_image.data;
incoming_image.data = null;
UiDispatcher.RunOnUIThread(() =>
{
progress.ShowProgress(0, 0, 0);
ShowImage(saved);
});
}
}
break;
}
}