//constructor for MissionSelection Form for polygon mission
public MissionSelection(ProjectSummary _ps, String _FlightPlanFolder, LogFile _logFile,
NavInterfaceMBed navIF_In, SDKHandler cameraIn, bool hardwareAttached_, SettingsManager _settings, String _MissionDateString)
{
InitializeComponent();
posVel_ = new PosVel();
//set the flight plans folder and the Project Summary structure from the prior Project Selection
FlightPlanFolder = _FlightPlanFolder;
ps = _ps;
navIF_ = navIF_In;
camera = cameraIn;
hardwareAttached = hardwareAttached_;
settings = _settings;
MissionDateString = _MissionDateString;
logFile = _logFile;
projectName = ps.ProjectName;
//there is a separate constructor for the linearFeature coverage type
coverageType = COVERAGE_TYPE.polygon;
//getPosVelTimer = new Stopwatch();
utm = new UTM2Geodetic();
/////////////////////////////////////////////////////////////////////////////////////
//set up the project polygon and the individual Mission polygons in pixel units
/////////////////////////////////////////////////////////////////////////////////////
//set of points in Pixels that we use to draw the project polygon onto the project map
//creats space for an array of Point structures tha will hold the project polygon
projectPolyPointsPix = new Point[ps.ProjectPolygon.Count];
//lat/lon image bounds from the mission plan
ib = ps.ProjectImage; //placeholder for the project image bounds NOTE: this is also used elsewhere
//multiplier used for pix-to-geodetic conversion for the project map -- scales lat/lon to pixels
// TODO: ugly --- cant we do this exactly???
//lon2PixMultiplier = mapScaleFactor * mapWidth / (ib.eastDeg - ib.westDeg);
//lat2PixMultiplier = -mapScaleFactor * mapHeight / (ib.northDeg - ib.southDeg); //"-" cause vertical map direction is positive towards the south
lon2PixMultiplier = mapWidth / (ib.eastDeg - ib.westDeg);
lat2PixMultiplier = -mapHeight / (ib.northDeg - ib.southDeg); //"-" cause vertical map direction is positive towards the south
//create the project polygon in pixel units -- once
for (int i = 0; i < ps.ProjectPolygon.Count; i++)
projectPolyPointsPix[i] = GeoToPix(ps.ProjectPolygon[i]); //just uses a linear scaling
//create the mission polygons (one per mission) in pixel units
//used to form the clickable region on the project map
missionPolysInPix = new List<Point[]>();
for (int i = 0; i < ps.msnSum.Count; i++)
{
Point [] pts = new Point[ps.msnSum[i].missionGeodeticPolygon.Count];
for (int j = 0; j < ps.msnSum[i].missionGeodeticPolygon.Count; j++)
pts[j] = GeoToPix(ps.msnSum[i].missionGeodeticPolygon[j]);
missionPolysInPix.Add(pts);
}
}
int volumeChangedCounter; //used to measure the times of the "volume changed" events (two per download)
#endregion Fields
#region Constructors
/// <summary>
/// Initialises the SDK and adds events
/// </summary>
public SDKHandler(LogFile _logFile, SettingsManager settings)
{
Error = EDSDK.EdsInitializeSDK();
SDKStateEvent += new EDSDK.EdsStateEventHandler(Camera_SDKStateEvent);
SDKPropertyEvent += new EDSDK.EdsPropertyEventHandler(Camera_SDKPropertyEvent);
SDKObjectEvent += new EDSDK.EdsObjectEventHandler(Camera_SDKObjectEvent);
logFile = _logFile;
photoParameters = new PhotoParameters();
photoStats = new PhotoStats();
PhotoInProgress = false;
photoTimer = new Stopwatch();
volumeChangedCounter = 0;
//get the camera list of attached cameras
CamList = GetCameraList();
if (CamList.Count == 0)
{
logFile.WriteLine("There are no attached cameras");
MessageBox.Show("There are no attached cameras");
return;
}
else if (CamList.Count > 1)
{
MessageBox.Show("Found more than one attached Canon camera");
logFile.WriteLine("There is more than one attached camera");
return;
}
//open the session with the first camera (only a single camera is allowed)
OpenSession(CamList[0]);
//label the camera type
String cameraDescription = MainCamera.Info.szDeviceDescription;
//label camera serial number
String cameraSN = GetSettingString((uint)EDSDK.PropID_BodyIDEx);
//label firmware
String cameraFirmware = GetSettingString((uint)EDSDK.PropID_FirmwareVersion);
//CameraHandler.SetSetting(EDSDK.PropID_SaveTo, (uint)EDSDK.EdsSaveTo.Camera);
//CameraHandler.SetSetting(EDSDK.PropID_SaveTo, (uint)EDSDK.EdsSaveTo.Host);
SetSetting(EDSDK.PropID_SaveTo, (uint)EDSDK.EdsSaveTo.Both);
SetCapacity(); //used to tell camera there is enough room on the PC HD (see codeproject tutorial)
//get the capacity and loading of the camera card storage drive
//also write out the names of the images to output
cameraStats = StorageAssessment();
//fill in the remainder of the camera parameters
cameraStats.cameraDescription = cameraDescription;
cameraStats.cameraSN = cameraSN;
cameraStats.cameraFirmware = cameraFirmware;
missionPlansFolder = settings.SaveToFolder;
if (!Directory.Exists(missionPlansFolder)) Directory.CreateDirectory(missionPlansFolder);
if (!Directory.Exists(missionPlansFolder + @"/TestImages/"))
Directory.CreateDirectory(missionPlansFolder + @"/TestImages/");
//default value -- update this
ImageSaveDirectory = missionPlansFolder + @"/TestImages/";
/////////////////////////////////////////////////////
// camera settings for WaldoAir Flight Operations
/////////////////////////////////////////////////////
try
{
//set the aperture ---
SetSetting(EDSDK.PropID_Av, CameraValues.AV(settings.Camera_fStop));
logFile.WriteLine("Set the fStop: " + settings.Camera_fStop);
//set the shutter speed
SetSetting(EDSDK.PropID_Tv, CameraValues.TV(settings.Camera_shutter));
logFile.WriteLine("Set the shutter: " + settings.Camera_shutter);
//set the ISO
SetSetting(EDSDK.PropID_ISOSpeed, CameraValues.ISO(settings.Camera_ISO));
logFile.WriteLine("Set the ISO: " + settings.Camera_ISO);
//set the white balance to Daylight
SetSetting(EDSDK.PropID_WhiteBalance, EDSDK.WhiteBalance_Daylight);
logFile.WriteLine("Set the WhiteBalance: DayLight");
}
catch
{
logFile.WriteLine(" could not set the camera parameters");
MessageBox.Show("Problem setting the Camera parameters");
}
}
public void resetLogFile(LogFile _logFile)
{
//used to change to location of the log file if required
logFile = _logFile;
}
//constructor for the linearFeature coverage form
public Mission(String _FlightPlanFolder, String _MissionDataFolder, String MissionDateStringNameIn, int _missionNumber,
linearFeatureCoverageSummary _LFSum, LogFile _logFile,
NavInterfaceMBed navIF_In, SDKHandler cameraIn, bool simulatedMission_, bool hardwareAttached_, Image _projectImage)
{
InitializeComponent();
coverageType = COVERAGE_TYPE.linearFeature;
this.FormBorderStyle = System.Windows.Forms.FormBorderStyle.None;
posVel_ = new PosVel();
//set the mission image
this.Width = (int)(mapScaleFactor * mapWidth);
this.Height = (int)(mapScaleFactor * mapHeight);
//this.Width = 640; //pixel height of the form
//this.Height = 480; //pixel width of the form
//retrieve local variables from the arguments
missionNumber = _missionNumber;
LFSum = _LFSum;
MissionDataFolder = _MissionDataFolder;
FlightPlanFolder = _FlightPlanFolder;
navIF_ = navIF_In;
camera = cameraIn;
logFile = _logFile;
MissionDateStringName = MissionDateStringNameIn;
projectImage = _projectImage;
//NOTE: if the simulatedMission=true, we will always generate the platform state from the software
// If hardwareAttached=true, we will collect the IMU and GPS
simulatedMission = simulatedMission_;
hardwareAttached = hardwareAttached_;
//st up the form to allow keydown events only in the simulation
if (simulatedMission)
{
this.KeyPreview = true;
}
timeFromTrigger = new Stopwatch();
//showMessage = new Stopwatch();
elapsedTime = new Stopwatch();
getPosVelTimer = new Stopwatch();
//placeholder for the first of the path image bounds
ib = LFSum.paths[0].imageBounds[0]; //placeholder for the project image bounds
//multiplier used for pix-to-geodetic conversion for the project map -- scales lat/lon to pixels
//NOTE -- we do the drawing on top of a bitmap sized to the mapWidth, mapHeight -- then stretch to fit the actual screen
lon2PixMultiplier = mapWidth / (ib.eastDeg - ib.westDeg);
lat2PixMultiplier = -mapHeight / (ib.northDeg - ib.southDeg); //"-" cause vertical map direction is positive towards the south
//lon2PixMultiplier = mapWidth / (ib.eastDeg - ib.westDeg);
//lat2PixMultiplier = -mapHeight / (ib.northDeg - ib.southDeg); //"-" cause vertical map direction is positive towards the south
platFormPosVel = new PosVel();
platFormPosVel.GeodeticPos = new PointD(0.0, 0.0);
platFormPosVel.UTMPos = new PointD(0.0, 0.0);
//this will hold the locations of the aircraft over a period of time
crumbTrail = new Point[numberCrumbTrailPoints];
labelPilotMessage.Visible = false;
//form the along-Path distance at each point (vertex)
//will be used for interpolating the commanded altitude along the path
for (int j = 0; j < LFSum.paths.Count; j++ )
{
LFSum.paths[j].alongPathDistanceAtVertex = new List<double>();
double cumulativeDistance = 0;
for (int i=0; i<LFSum.paths[j].pathUTM.Count; i++)
if (i == 0) LFSum.paths[j].alongPathDistanceAtVertex.Add(0.0);
else
{
double delX = LFSum.paths[j].pathUTM[i].X - LFSum.paths[j].pathUTM[i - 1].X;
double delY = LFSum.paths[j].pathUTM[i].Y - LFSum.paths[j].pathUTM[i - 1].Y;
cumulativeDistance += Math.Sqrt(delX * delX + delY * delY);
LFSum.paths[j].alongPathDistanceAtVertex.Add(cumulativeDistance);
}
}
}
//constructor for the polygon coverage form
public Mission(String _FlightPlanFolder, String _MissionDataFolder, String MissionDateStringNameIn, int _missionNumber,
ProjectSummary _ps, bool[] _priorFlownFLs, LogFile _logFile,
NavInterfaceMBed navIF_In, SDKHandler cameraIn, bool _simulatedMission, bool _hardwareAttached, StreamWriter _reflyFile, Image _projectImage)
{
InitializeComponent();
coverageType = COVERAGE_TYPE.polygon; //we use a separate constructor for the linearFeature mission
this.FormBorderStyle = System.Windows.Forms.FormBorderStyle.None;
//set the mission image -- mapWidth & mapHeight = 640 X 480 based on the Google Earth map download limits
this.Width = (int)(mapScaleFactor * mapWidth); //mapscaleFactor scales the map to fit a screen size of 1024 X 768
this.Height = (int)(mapScaleFactor * mapHeight);
//this.Width = 640; //pixel height of the form
//this.Height = 480; //pixel width of the form
posVel_ = new PosVel();
//retrieve local variables from the arguments
missionNumber = _missionNumber;
ps = _ps;
MissionDataFolder = _MissionDataFolder;
FlightPlanFolder = _FlightPlanFolder;
priorFlownFLs = _priorFlownFLs; //this contains the completed flight lines so they arent reflown
reflyFile = _reflyFile; //write the completed flight line indices to this file
projectImage = _projectImage; //contains the complete project image in case the display runs off the smaller maps
navIF_ = navIF_In;
camera = cameraIn;
logFile = _logFile;
MissionDateStringName = MissionDateStringNameIn;
//NOTE: if the simulatedMission=true, we will always generate the platform state from the software
// If hardwareAttached=true, we will collect the IMU and GPS
simulatedMission = _simulatedMission;
hardwareAttached = _hardwareAttached;
timeFromTrigger = new Stopwatch();
elapsedTime = new Stopwatch();
getPosVelTimer = new Stopwatch();
timePastEndfFlightline = new Stopwatch();
////ib is used internally to the GeoToPix procedures
////we will need to reset the ib & PixMultipliers if we have to use the Project map (plane exits mission map)
//ib = ps.msnSum[missionNumber].MissionImage; //placeholder for the Mission image bounds
////multiplier used for pix-to-geodetic conversion for the project map -- scales lat/lon to pixels
////NOTE -- we do the drawing on top of a bitmap sized to the mapWidth, mapHeight -- then stretch to fit the actual screen
//lon2PixMultiplier = mapWidth / (ib.eastDeg - ib.westDeg);
//lat2PixMultiplier = -mapHeight / (ib.northDeg - ib.southDeg); //"-" cause vertical map direction is positive towards the south
platFormPosVel = new PosVel();
platFormPosVel.GeodeticPos = new PointD(0.0, 0.0);
platFormPosVel.UTMPos = new PointD(0.0, 0.0);
//this will hold the locations of the aircraft over a period of time
crumbTrail = new Point[numberCrumbTrailPoints];
//shows the "waiting sats" message
labelPilotMessage.Visible = false;
//get the max flight line length for this mission -- should come from the missionPlan
//used to establish a region before and after the flightlines where flightlinecapture is allowed
for (int i = 0; i < ps.msnSum[missionNumber].FlightLinesCurrentPlan.Count; i++)
{
if (ps.msnSum[missionNumber].FlightLinesCurrentPlan[i].FLLengthMeters > maxFlightLineLength)
maxFlightLineLength = ps.msnSum[missionNumber].FlightLinesCurrentPlan[i].FLLengthMeters;
}
}
void checkForAndValidateFilesNeeded()
{
//get initialization settings from the Settings.txt file
initializationSettings = new SettingsManager();
//initializationSettings.SaveToFolder is the location of the mission plan folder
//this is typically set to C://_Waldo_FCS
FlightPlanFolder = initializationSettings.SaveToFolder;
//set up the logging procedures for the application
logFile = new LogFile( ref MissionDateString, initializationSettings);
logFile.WriteLine("Mission DateString established: " + MissionDateString);
//this will be a temporary location for saving the log file
//this will be revised later after we select the mssion
//FlightLogFolder = initializationSettings.SaveToFolder + "logs//";
String[] ProjectFolders = null;
ProjectFileNames = new List<String>();
ProjectCoverageTypes = new List<COVERAGE_TYPE>();
//flight folder location "_Waldo_FS" at top of C drive
if (!Directory.Exists(FlightPlanFolder))
{
DialogResult res = MessageBox.Show("There is no mission plan folder (_Waldo_FCS) at the top of the C drive\n ... Use the default example? ",
"NO Mission Folder", MessageBoxButtons.YesNo);
if (res == DialogResult.No)
{
Environment.Exit(0);
}
else
{
FlightPlanFolder = Directory.GetCurrentDirectory() + "\\SampleMission\\";
if (Directory.Exists(FlightPlanFolder))
{
MessageBox.Show("There is no sample mission folder ...", "Terminating ...");
Environment.Exit(0);
}
}
}
////////////////////////////////////////////////////////////////////////////////////
//if we get here, we have located the flight plan folder and created a log folder
////////////////////////////////////////////////////////////////////////////////////
//get the list of projects in the FlightPlanFolder
ProjectFolders = Directory.GetFiles(FlightPlanFolder, "*.kml"); //all files ending in .kml
if (ProjectFolders.Count() == 0)
{
MessageBox.Show("There are no Projects in the FlightPlanFolder folder", "Terminating ... ");
Environment.Exit(0);
}
logFile.WriteLine("");
logFile.WriteLine("Opening Project plans");
foreach (String pth in ProjectFolders)
{
//open each of the .kml files to see if they are valid missions plans
//and detect either Polygon plans or LinearFeature Plans
String kmlFilename = FlightPlanFolder + Path.GetFileNameWithoutExtension(pth) + ".kml";
logFile.WriteLine("Project plan: " + kmlFilename);
COVERAGE_TYPE coverageType = COVERAGE_TYPE.notSet;
XmlTextReader tr = new XmlTextReader(kmlFilename); //associate the textReader with input file
ProjectKmlReadUtility ps = new ProjectKmlReadUtility(tr, ref coverageType);
//we will display only input kml files that are detected to be polygon of linearFeature types
if (coverageType != COVERAGE_TYPE.notSet)
{
//test for a matching Background folder
String BackgroundMapFolderName = FlightPlanFolder + Path.GetFileNameWithoutExtension(pth) + "_Background\\";
if (!Directory.Exists(BackgroundMapFolderName))
{
MessageBox.Show("Valid plan: " + pth + ", found but no matching Background maps folder\n skip this plan");
}
else
{
int validMaps = 0;
String[] mapFiles = Directory.GetFiles(BackgroundMapFolderName, "*.png"); //all files ending in .kml
foreach (String st in mapFiles)
{
String ss = Path.GetFileNameWithoutExtension(st);
if (ss == "ProjectMap" || ss == "Background_00")
{
validMaps++;
}
}
if (validMaps < 2)
{
MessageBox.Show(pth + ": maps not correct in Background Folder\n skip this plan");
break;
}
//have found a valid mission plan with matching Background maps.
ProjectFileNames.Add(Path.GetFileNameWithoutExtension(pth));
ProjectCoverageTypes.Add(coverageType);
}
}
else
{
MessageBox.Show(pth + ": Invalid mission plan\n id you use latest KML_Reader?\n skip this plan");
}
}
//test for no valid mission plans
if (ProjectFileNames.Count == 0)
{
MessageBox.Show("There are no valid Polygon or LinearFeature projects \nDid you use a valid mission planner?");
Environment.Exit(0);
}
logFile.WriteLine("Completed opening project plans");
logFile.WriteLine("");
}
public NavInterfaceMBed(LogFile _logFile, SettingsManager Settings)
{
logFile = _logFile; //file where we write the mbed navigation data and status message
//Thread reader/writer lock to prevent clobbering the posvel variable while it is being accessed
posvelLock = new ReaderWriterLockSlim();
comStatusMessageLock = new ReaderWriterLockSlim();
triggerTimeReceievdFromMbed = false; //set to true when we receive a 1PPS status message
//reset to false in the calling program when the status message is processed
//used to store the CRC results fpr the GPS messages received at the PC
GPS_PC_CRC = new GPSMessageCRC_atPC();
trigger = new Trigger();
computeCRC = new NovatelCRC(); //class to compute the Novatel CRC value (see their manual)
comStats = new CommStats(); //accumulated comm stats
commStatusMessage = new CommStatusMessage(); //per sec comm status message
navIFMutex_ = new Mutex(); //not sure we need this
////////////////////////////////////////////////////////////////////////////////////////////
//wait here in a loop unitl we have attached the USB cable to access the mbed device
////////////////////////////////////////////////////////////////////////////////////////////
initializeMbedSerialPort();
if (!serialInit_)
{
logFile.WriteLine("mbed serial port not found");
throw new Exception("no serial port found");
}
/////////////////////////////////////////////////////////////////////////////////////
//At this stage we have found the mbed port and have successfully opened the port
/////////////////////////////////////////////////////////////////////////////////////
logFile.WriteLine("Successfully opened the mbed device");
utm = new UTM2Geodetic();
posvelAt1PPS = new PosVel();
timeFrom1PPS = new Stopwatch();
//set up the communications interface thread
Thread mbedCommunication = new Thread(mbedCommunicationWorker);
mbedCommunication.IsBackground = false;
//start the communication and begin retrieving mbed messages
mbedCommunication.Start();
logFile.WriteLine("Completed starting the mbed communication thread");
if (mbedCommunication.IsAlive)
{
logFile.WriteLine("mbedCommunication thread is operating ");
}
else
{
logFile.WriteLine("mbed communication htread os not operating ");
MessageBox.Show("mbed comminication thread did not start ");
}
}
public void resetLogFile(LogFile _mbedLogFile)
{
//allows resetting the logfile for the case where we close it and reopen it in the calling procedure;
//allows an early definition/placement of logging messages and then close/re-open the log file at another location
//used to enable naming the log file AFTER we have selected a mission during Waldo_FCS
logFile = _mbedLogFile;
}
//constructor for MissionSelection Form Linear Feature mission
public MissionSelection(linearFeatureCoverageSummary _LFSum, String _FlightPlanFolder, LogFile _logFile,
NavInterfaceMBed navIF_In, SDKHandler cameraIn, bool hardwareAttached_, SettingsManager _settings, String _MissionDateString)
{
InitializeComponent();
posVel_ = new PosVel();
//set the flight plans folder and the Project Summary structure from the prior Project Selection
FlightPlanFolder = _FlightPlanFolder;
LFSum = _LFSum;
navIF_ = navIF_In;
camera = cameraIn;
hardwareAttached = hardwareAttached_;
settings = _settings;
MissionDateString = _MissionDateString;
logFile = _logFile;
projectName = LFSum.ProjectName;
//this is a specific constructor for the linear feature coverage type
coverageType = COVERAGE_TYPE.linearFeature;
getPosVelTimer = new Stopwatch();
utm = new UTM2Geodetic();
//lat/lon image bounds from the mission plan
ib = LFSum.ProjectImage; //placeholder for the project image bounds NOTE: this is also used elsewhere
//multiplier used for pix-to-geodetic conversion for the project map -- scales lat/lon to pixels
// TODO: ugly --- cant we do this exactly???
//lon2PixMultiplier = mapScaleFactor * mapWidth / (ib.eastDeg - ib.westDeg);
//lat2PixMultiplier = -mapScaleFactor * mapHeight / (ib.northDeg - ib.southDeg); //"-" cause vertical map direction is positive towards the south
lon2PixMultiplier = mapWidth / (ib.eastDeg - ib.westDeg);
lat2PixMultiplier = -mapHeight / (ib.northDeg - ib.southDeg); //"-" cause vertical map direction is positive towards the south
}
