{

public partial class DialogKMLPath : Form

{

double _lat;

double _lon;

private Waypoint_Path_Gen _wpg;

private GMAP _gmap;

private WayPoints _wp;

private Models.Path _path;

private TreeView _treeview;

int _current_path_index;

double[,] _kml_points = new double[1000, 4];

int _kml_point_count = 0;

string _kml_filename = null;

public DialogKMLPath(Waypoint_Path_Gen wpg, GMAP gmap,TreeView treeview, double lat, double lon)

{

_lat = lat;

_lon = lon;

_wpg = wpg;

_gmap = gmap;

_treeview = treeview;

_current_path_index = -1;

_path = new Models.Path();

_wp = new WayPoints();

InitializeComponent();

// Fill POI combobox

cmbKLMPOI.Items.Clear();

for (int i = 0; i < _wpg.POICount(); i++)

{

cmbKLMPOI.Items.Add(_wpg.POIPointAt(i).name);

}

// Generate EMpty Path

_path.Add_Empty_Path(_wpg, _gmap, "Empty Path", "KML");

_current_path_index = _wpg.PathCount() - 1;

}

private void chKLMPOI_CheckedChanged(object sender, EventArgs e)

{

BuildKMLPath();

}

private void label1_Click(object sender, EventArgs e)

{

}

private void btnSelectKMLFile_Click(object sender, EventArgs e)

{

if (openFileDialog1.ShowDialog() == DialogResult.OK)

{

/* Get kml filename */

string kml_file = openFileDialog1.FileName;

if (kml_file.Contains(".kml"))

{

Form1.Globals.kml_filename = kml_file;

rtbKMLRead.AppendText("KML File : " + kml_file + "\n");

rtbKMLRead.AppendText("\n");

/* Open KML File */

System.IO.TextReader stream = System.IO.File.OpenText(kml_file);

SharpKml.Engine.KmlFile file = KmlFile.Load(stream);

Kml _kml = file.Root as Kml;

SharpKml.Dom.Placemark[] tempPlaceMarks = new SharpKml.Dom.Placemark[1000];

SharpKml.Dom.Placemark tmp_placemark = new SharpKml.Dom.Placemark();

CoordinateCollection coordinates = new CoordinateCollection();

Form1.Globals.kml_point_count = 0;

//rtbKMLRead.AppendText("Waypoint Count : " + Convert.ToString(Globals.waypoint_count) + "\n");

int numOfPlaceMarks = 0;

if (_kml != null)

{

foreach (var placemark in _kml.Flatten().OfType<SharpKml.Dom.Placemark>())

{

string placename = placemark.Name;

rtbKMLRead.AppendText("Placemark Name : " + placename + "\n");

tmp_placemark.Name = placename;

numOfPlaceMarks++;

}

rtbKMLRead.AppendText("Number of Placemarks : " + Convert.ToString(numOfPlaceMarks) + "\n");

int num_linestring = 0;

SharpKml.Base.Vector vector;

double lat;

double lon;

double alt;

foreach (var linestring in _kml.Flatten().OfType<LineString>())

{

coordinates = linestring.Coordinates;

int num = coordinates.Count;

rtbKMLRead.AppendText("Num Coordinates : " + Convert.ToString(num) + "\n");

for (int i = 0; i < num; i++)

{

vector = coordinates.ElementAt(i);

lat = vector.Latitude;

lon = vector.Longitude;

alt = (double)vector.Altitude;

rtbKMLRead.AppendText("Lat/Lon : " + Convert.ToString(lat));

rtbKMLRead.AppendText(", " + Convert.ToString(lon) + "Altitude : " + Convert.ToString(alt) + "\n");

_kml_points[_kml_point_count, 0] = lat;

_kml_points[_kml_point_count, 1] = lon;

_kml_points[_kml_point_count, 2] = alt;

_kml_point_count++;

//dgvWaypoints.Rows.Add(Globals.waypoint_count, Convert.ToString(lat), Convert.ToString(lon), Convert.ToString(30));

}

num_linestring++;

}

rtbKMLRead.AppendText("Number of Linestrings : " + Convert.ToString(num_linestring) + "\n");

BuildKMLPath();

}

}

else { MessageBox.Show("Wrong file type!", "GPS Grid:", MessageBoxButtons.OKCancel, MessageBoxIcon.Error); }

}

}

private void BuildKMLPath()

{

// Create Path

if (_current_path_index != -1)

{

_wpg.DeletePath(_wpg.PathAt(_current_path_index));

}

string path_name = txtKMLName.Text;

if (path_name == "") path_name = _kml_filename;

LinkedList<WayPoints> wp_list = new LinkedList<WayPoints>();

double lat, lon, alt;

int gimblemode = 0;

double gimblepitch = 0;

double curvesize = 0;

double rotdir = 0;

int[,] actions = new int[,] { { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 } };

LinkedList<WayPoints> new_list = new LinkedList<WayPoints>();

/* Generate Waypoints for each coordinate */

for (int i = 0; i < _kml_point_count; i++)

{

lat = _kml_points[i, 0];

lon = _kml_points[i, 1];

alt = _kml_points[i, 2];

double heading = 0.0;

double poi_lat = 0;

double poi_lon = 0;

/* Calculate Heading for each Waypoint */

if (chKLMPOI.Checked)

{

int poi_index = cmbKLMPOI.SelectedIndex;

if (poi_index == -1)

{

poi_lat = _lat;

poi_lon = _lon;

}

else {

POIPoints tmp_point = _wpg.POIPointAt(poi_index);

poi_lat = tmp_point.lat;

poi_lon = tmp_point.lon;

}

heading = GPS.GPS_Bearing(lat, lon, poi_lat, poi_lon);

gimblemode = 2;

double distance = GPS.GPS_Distance(lat, lon, poi_lat, poi_lon, Form1.Globals.gps_radius);

gimblepitch = -GPS.RadiansToDegrees(Math.Atan(alt / distance));

gimblemode = 2;

}

else {

if (i != _kml_point_count - 1)

{

double lat_next = _kml_points[i + 1, 0];

double lon_next = _kml_points[i + 1, 1];

heading = GPS.GPS_Bearing(lat, lon, lat_next, lon_next);

}

}

_wp.Add_Waypoint_List(new_list, lat, lon, alt, heading, curvesize, rotdir, gimblemode, gimblepitch, actions);

//dgvWaypoints.Rows.Add(Globals.waypoint_count + i+1, Convert.ToString(lat), Convert.ToString(lon), Convert.ToString(alt));

}

_path.Add_Path(_wpg, _gmap, path_name, "KML", new_list);

int index = _wpg.PathCount() - 1;

_current_path_index = index;

Models.Path path = _wpg.PathAt(index);

string exist_type = path.type;

bool exist_select = path.selected;

bool exist_visible = path.visible;

if (exist_type == "KML")

{

_wpg.ChangePathWP(index, new_list);

string pathname = path.name;

int id = path.id;

string type = path.type;

_gmap.Delete_gMapPath(path);

Models.Path newpath = new Models.Path();

newpath.name = pathname;

newpath.id = id;

newpath.type = type;

newpath.selected = exist_select;

newpath.visible = exist_visible;

newpath.waypoints = new_list;

_gmap.Add_gMapPath(path, false);

}

_gmap.ReDrawgMap();

GMAPTree.Update_GMapTree(_wpg, _treeview);

}

private void btnCancel_Click(object sender, EventArgs e)

{

if (_current_path_index != -1) _wpg.DeletePath(_wpg.PathAt(_current_path_index));

_gmap.ReDrawgMap();

GMAPTree.Update_GMapTree(_wpg, _treeview);

this.Close();

}

private void btnAddKML_Click(object sender, EventArgs e)

{

this.Close();

}

private void cmbKLMPOI_SelectedIndexChanged(object sender, EventArgs e)

{

BuildKMLPath();

}

private void txtKMLName_TextChanged(object sender, EventArgs e)

{

BuildKMLPath();

}

}