private void setRcModeButton_Click(object sender, EventArgs e)
{
int rcMode = Convert.ToInt32(this.rcModeTextBox.Text);
int id = IbusMessageClass.Send_rc_mode(rcMode);
int ret = 0;
if (id < 0)
{
MessageBox.Show("设置遥控器模式失败");
}
do
{
ret = IbusMessageClass.Get_ibus_ret(id);
Thread.Sleep(5);
} while (ret > 0);
if (ret < 0)
{
MessageBox.Show("设置遥控器模式失败:" + ret.ToString());
}
else if (ret == 0)
{
MessageBox.Show("设置遥控器模式成功:" + ret.ToString());
}
}
private void setHomeButton_Click(object sender, EventArgs e)
{
int id, ret;
if (mapOverlayMarker.Markers.Count > 0)
{
PointLatLng pos = MyMap.gcj_To_Gps84(mapOverlayMarker.Markers[0].Position);
id = IbusMessageClass.Set_plane_home(pos.Lat, pos.Lng, 0);
}
else
{
id = IbusMessageClass.Set_plane_home(0, 0, 0);
}
if (id < 0)
{
MessageBox.Show("设置home点错误");
}
do
{
ret = IbusMessageClass.Get_ibus_ret(id);
Thread.Sleep(5);
} while (ret > 0);
if (ret < 0)
{
MessageBox.Show("设置home点错误:" + ret.ToString());
}
else if (ret == 0)
{
MessageBox.Show("设置home点成功:" + ret.ToString());
}
}
private void setPlaneTimeButton_Click(object sender, EventArgs e)
{
DateTime nowTime = DateTime.Now;
uint timeSeconds = (uint)(((((((nowTime.Year - 2000) * 12) + nowTime.Month) * 31 + nowTime.Day) * 24 + nowTime.Hour) * 60 + nowTime.Minute) * 60 + nowTime.Second);
int id = IbusMessageClass.Set_plane_time(timeSeconds);
int ret = 0;
if (id < 0)
{
MessageBox.Show("同步时间错误");
}
do
{
ret = IbusMessageClass.Get_ibus_ret(id);
Thread.Sleep(5);
} while (ret > 0);
if (ret < 0)
{
MessageBox.Show("同步时间错误:" + ret.ToString());
}
else if (ret == 0)
{
MessageBox.Show("同步时间成功:" + ret.ToString());
}
}
private void timeOverEvent(object sender, EventArgs e)
{
if (connectedPort == false)
{
return;
}
this.showRollLabel.Text = IbusMessageClass.Get_attitude_roll().ToString();
this.showPitchLabel.Text = IbusMessageClass.Get_attitude_pitch().ToString();
this.showYawLabel.Text = IbusMessageClass.Get_attitude_yaw().ToString();
this.showFlymodeLabel.Text = IbusMessageClass.Get_sysstate_flymode().ToString();
this.showSubflymodeLabel.Text = IbusMessageClass.Get_sysstate_subflymode().ToString();
this.showStarsLabel.Text = IbusMessageClass.Get_sysstate_stars().ToString();
this.showHomelatLabel.Text = IbusMessageClass.Get_sysstate_homelat().ToString();
this.showHomelonLabel.Text = IbusMessageClass.Get_sysstate_homelon().ToString();
this.showHomealtLabel.Text = IbusMessageClass.Get_sysstate_homealt().ToString();
this.showStateflagLabel.Text = Convert.ToString(IbusMessageClass.Get_sysstate_stateflag(), 16);
uint temp = IbusMessageClass.Get_sysstate_datetime();
string dataTimeStr;
dataTimeStr = (temp % 60).ToString().PadLeft(2, '0');
temp /= 60;
dataTimeStr = (temp % 60).ToString().PadLeft(2, '0') + ':' + dataTimeStr;
temp /= 60;
dataTimeStr = (temp % 24).ToString().PadLeft(2, '0') + ':' + dataTimeStr;
temp /= 24;
dataTimeStr = (temp % 31).ToString().PadLeft(2, '0') + ' ' + dataTimeStr;
temp /= 31;
dataTimeStr = (temp % 12).ToString().PadLeft(2, '0') + '-' + dataTimeStr;
temp /= 12;
temp += 2000;
dataTimeStr = temp.ToString().PadLeft(2, '0') + '-' + dataTimeStr;
this.showDateTimeLabel.Text = dataTimeStr;
this.showLatLabel.Text = IbusMessageClass.Get_position_lat().ToString();
this.showLonLabel.Text = IbusMessageClass.Get_position_lon().ToString();
this.showAltLabel.Text = IbusMessageClass.Get_position_alt().ToString();
this.showRelativealtLabel.Text = IbusMessageClass.Get_position_relative_alt().ToString();
this.showCapacityLabel.Text = IbusMessageClass.Get_battery_remainingCapacity().ToString();
this.showVoltageLabel.Text = IbusMessageClass.Get_battery_voltage().ToString();
this.showCurrentLabel.Text = IbusMessageClass.Get_battery_current().ToString();
this.showPercentLabel.Text = IbusMessageClass.Get_battery_remainingPercent().ToString();
/* IbusMessageClass.Get_camera_cameramode();
* IbusMessageClass.Get_camera_camerapitch();
* IbusMessageClass.Get_camera_remainingnum();
* IbusMessageClass.Get_camera_remainingTime();
* IbusMessageClass.Get_camera_remainingCapacity();*/
this.showRcModeLabel.Text = IbusMessageClass.Get_rc_mode().ToString();
}
private void readTastitemButton_Click(object sender, EventArgs e)
{
int id, ret, index = 1;
int wpCount = 0;
MissionItemStruct missionItemStruct = new MissionItemStruct();
mapOverlayMarker.Markers.Clear();
mapOverlayMarker.Routes.Clear();
do
{
id = IbusMessageClass.Send_read_tastitem(index);
if (id < 0)
{
MessageBox.Show("设置航点点错误");
}
do
{
ret = IbusMessageClass.Get_ret_tastitem(id, ref missionItemStruct);
Thread.Sleep(5);
} while (ret > 0);
if (ret < 0)
{
MessageBox.Show("设置航点错误:" + ret.ToString());
}
else if (ret == 0)
{
// MessageBox.Show("设置航点成功:" + ret.ToString());
PointLatLng pos = new PointLatLng(missionItemStruct.x, missionItemStruct.y);
wpCount = missionItemStruct.total;
mapOverlayMarker.Markers.Add(new GMarkerGoogle(MyMap.gps84_To_Gcj02(pos), GMarkerGoogleType.green));
mapOverlayMarker.Markers[mapOverlayMarker.Markers.Count - 1].ToolTipText = mapOverlayMarker.Markers.Count.ToString();
if (mapOverlayMarker.Markers.Count >= 2)
{
List <PointLatLng> listPoint = new List <PointLatLng>();
listPoint.Add(mapOverlayMarker.Markers[mapOverlayMarker.Markers.Count - 2].Position);
listPoint.Add(mapOverlayMarker.Markers[mapOverlayMarker.Markers.Count - 1].Position);
GMapRoute gMapRoute = new GMapRoute(listPoint, "");
gMapRoute.Stroke.Color = Color.Yellow;
gMapRoute.Stroke.Width = 2;
mapOverlayMarker.Routes.Add(gMapRoute);
}
this.myMap.Refresh();
}
} while (index++ < wpCount);
}
private void circleButton_Click(object sender, EventArgs e)
{
Int16 r = Convert.ToInt16(this.radiusTextBox.Text);
UInt16 n = Convert.ToUInt16(this.numTextBox.Text);
int id;
PointLatLng pos;
if (mapOverlayMarker.Markers.Count > 0)
{
pos = MyMap.gcj_To_Gps84(mapOverlayMarker.Markers[0].Position);
id = IbusMessageClass.Send_tastitem_circle(0, 0, pos.Lat, pos.Lng, IbusMessageClass.Get_position_alt(), r, n);
}
else
{
id = IbusMessageClass.Send_tastitem_circle(0, 0, 0, 0, 0, r, n);
}
int ret = 0;
if (id < 0)
{
MessageBox.Show("绕圈失败");
}
do
{
ret = IbusMessageClass.Get_ibus_ret(id);
Thread.Sleep(5);
} while (ret > 0);
if (ret < 0)
{
MessageBox.Show("自动起飞失败:" + ret.ToString());
}
else if (ret == 0)
{
MessageBox.Show("自动起飞成功:" + ret.ToString());
}
}
private void setTakeoffButton_Click(object sender, EventArgs e)
{
int id = IbusMessageClass.Set_plane_takeoff(Convert.ToSingle(this.takeoffTextBox.Text));
int ret = 0;
if (id < 0)
{
MessageBox.Show("自动起飞失败");
}
do
{
ret = IbusMessageClass.Get_ibus_ret(id);
Thread.Sleep(5);
} while (ret > 0);
if (ret < 0)
{
MessageBox.Show("自动起飞失败:" + ret.ToString());
}
else if (ret == 0)
{
MessageBox.Show("自动起飞成功:" + ret.ToString());
}
}
private void setLandButton_Click(object sender, EventArgs e)
{
int id = IbusMessageClass.Set_plane_land();
int ret = 0;
if (id < 0)
{
MessageBox.Show("着陆命令发送失败");
}
do
{
ret = IbusMessageClass.Get_ibus_ret(id);
Thread.Sleep(5);
} while (ret > 0);
if (ret < 0)
{
MessageBox.Show("着陆命令发送失败:" + ret.ToString());
}
else if (ret == 0)
{
MessageBox.Show("着陆命令发送成功:" + ret.ToString());
}
}
private void armDisarmPlaneButton_Click(object sender, EventArgs e)
{
int id = IbusMessageClass.Set_arm_disarm(1);
int ret = 0;
if (id < 0)
{
MessageBox.Show("解锁失败");
}
do
{
ret = IbusMessageClass.Get_ibus_ret(id);
Thread.Sleep(5);
} while (ret > 0);
if (ret < 0)
{
MessageBox.Show("解锁失败:" + ret.ToString());
}
else if (ret == 0)
{
MessageBox.Show("解锁成功:" + ret.ToString());
}
}
private void setWayPointButton_Click(object sender, EventArgs e)
{
int id, ret;
int wpCount = mapOverlayMarker.Markers.Count;
if (wpCount == 0)
{
return;
}
for (int i = 0; i < wpCount; i++)
{
PointLatLng pos = MyMap.gcj_To_Gps84(mapOverlayMarker.Markers[i].Position);
id = IbusMessageClass.Send_tastitem_waypoint((ushort)wpCount, (ushort)(i + 1), pos.Lat, pos.Lng, 10, 0);
if (id < 0)
{
MessageBox.Show("设置航点点错误");
}
do
{
ret = IbusMessageClass.Get_ibus_ret(id);
Thread.Sleep(5);
} while (ret > 0);
if (ret < 0)
{
MessageBox.Show("设置航点错误:" + ret.ToString());
}
else if (ret == 0)
{
// MessageBox.Show("设置航点成功:" + ret.ToString());
}
}
}
private unsafe void RunIbusThread()
{
while (!threadClose)
{
if (connectedPort)
{
if (this.com.IsOpen)
{
int num = com.BytesToRead;
if (num > 0)
{
byte[] buff = new byte[num];
com.Read(buff, 0, num);
fixed(byte *p = buff)
{
IbusMessageClass.Update(p, num);
}
}
num = IbusMessageClass.Update_ticks(10);
if (num > 0)
{
byte[] buff = new byte[num];
fixed(byte *p = buff)
{
num = IbusMessageClass.Get_data_readysend(p, num);
}
this.com.Write(buff, 0, num);
}
}
else if (this.tcpClient.Connected)
{
byte[] buff = new byte[256];
int num = 0;
try
{
num = tcpClientStream.Read(buff, 0, 256);
}
catch (Exception ex)
{
}
if (num > 0)
{
fixed(byte *p = buff)
{
IbusMessageClass.Update(p, num);
}
}
num = IbusMessageClass.Update_ticks(10);
if (num > 0)
{
fixed(byte *p = buff)
{
num = IbusMessageClass.Get_data_readysend(p, 256);
}
try
{
this.tcpClientStream.Write(buff, 0, num);
}
catch (Exception ex)
{
}
}
}
}
Thread.Sleep(10);
}
}
