{

public partial class Form1 : Form

{

// Global Variables

short urut = 0, i = 0, flek = 0, cd = 0, de = 0, flagGCS = 0, flag_antena = 1;

int nomer_titik = 0;

// Tracker Variables

int ratusan_yaw, puluhan_yaw, satuan_yaw, ratusan_pitch, puluhan_pitch, satuan_pitch, ribuan_yaw, ribuan_pitch;

int adc_maksimal_yaw = 0, adc_minimal_yaw = 1023, adc_maksimal_pitch = 355, adc_minimal_pitch = 611;

double gcslat = 0, gcslong = 0, gslat = 0, gslong = 0;

double data_adc_yaw = 0, data_adc_pitch = 611, tick = 0, time = 0, r1, r2;

string[] adc_pitch = new string[4];

string[] adc_yaw = new string[4];

public string RxString;

DataTable tabel = new DataTable();

int subsp=0;

// Video Straming Config

private IIPCamera _camera;

private DrawingImageProvider _imageProvider;

private MediaConnector _connector;

private VideoViewerWF _videoViewerWF1;

private SnapshotHandler _snapshotHandler;

private MPEG4Recorder _mpeg4Recorder;

// Google Map Config

GMarkerGoogle posisi_pesawat;

GMapOverlay markers = new GMapOverlay("markers");

GMapOverlay rute = new GMapOverlay("rute");

GMapOverlay track = new GMapOverlay("track");

private List<PointLatLng> _points;

private List<PointLatLng> _jalur;

private List<PointLatLng> gpollist;

public Form1()

{

InitializeComponent();

showPowerStatus();

getAvailablePorts();

buttonDisconnect.Enabled = false;

// Create Video Viewer UI Controller

_imageProvider = new DrawingImageProvider();

_connector = new MediaConnector();

_snapshotHandler = new SnapshotHandler();

_videoViewerWF1 = new VideoViewerWF();

setVideoViewer();

_points = new List<PointLatLng>();

_jalur = new List<PointLatLng>();

timer1.Start();

}

void showPowerStatus()

{

PowerStatus status = SystemInformation.PowerStatus;

label1.Text = status.BatteryLifePercent.ToString("P0");

}

void getAvailablePorts() // GET SERIAL

{

string[] Ports = SerialPort.GetPortNames();

comboBox_port.Items.AddRange(Ports);

comboPort2.Items.AddRange(Ports);

}

private void setVideoViewer() // SET VIDEO

{

cameraBox.Controls.Add(_videoViewerWF1);

_videoViewerWF1.Size = new Size(390, 280);

_videoViewerWF1.BackColor = Color.Silver;

_videoViewerWF1.BackgroundImage = GUI_KRTI_BismillahNyoba.Properties.Resources.dirgantara;

_videoViewerWF1.BackgroundImageLayout = ImageLayout.Zoom;

_videoViewerWF1.TabStop = false;

_videoViewerWF1.Name = "_videoViewerWf";

}

private void Form1_Load(object sender, EventArgs e)

{

gMapControl2.MapProvider = GMap.NET.MapProviders.GoogleMapProvider.Instance;

GMap.NET.GMaps.Instance.Mode = GMap.NET.AccessMode.ServerAndCache;

gMapControl2.Position = new PointLatLng(-7.2778145, 112.7941234);

GMapProvider.WebProxy = WebRequest.GetSystemWebProxy();

GMapProvider.WebProxy.Credentials = CredentialCache.DefaultNetworkCredentials;

tabel.Columns.Add("yaw", typeof(string));

tabel.Columns.Add("pitch", typeof(string));

tabel.Columns.Add("roll", typeof(string));

dataGridView1.DataSource = tabel;

textBoxLintangT.Text = "-7.27585485";

textBoxBujurT.Text = "112.79432658";

textBox2.Text = trackBar1.Value.ToString();

trackBar1.Minimum = 0;

trackBar1.Maximum = 100;

trackBar1.TickFrequency = 10;

trackBar2.Minimum = 0;

trackBar2.Maximum = 24;

trackBar2.TickFrequency = 1;

}

private void trackBar1_Scroll(object sender, EventArgs e)

{

textBox2.Text = trackBar1.Value.ToString();

subsp = trackBar1.Value;

}

private void trackBar2_Scroll(object sender, EventArgs e)

{

gMapControl1.Zoom = trackBar2.Value;

}

private void ExitButton_Click(object sender, EventArgs e) // CLOSE APPLICATION

{

DialogResult exiting = MessageBox.Show("Anda akan keluar aplikasi!\nPastikan Wahana telah kembali dengan selamat!\nTerimaKasih. -EFRISA 2019","Keluar dari PIGEON", MessageBoxButtons.YesNo);

if (exiting == DialogResult.Yes)

{

Application.Exit();

}

}

private void timer1_Tick(object sender, EventArgs e) // SET TIMER

{

day.Text = DateTime.Now.ToString("dddd");

date.Text = DateTime.Now.ToString("MMM dd yyyy");

times.Text = DateTime.Now.ToString("HH:mm:ss");

}

private void button3_Click(object sender, EventArgs e) // MENU FLIGHT

{

sidePanel.Height = button3.Height;

sidePanel.Top = button3.Top;

tabControl1.SelectedTab = tabPage1;

panelFlight.Visible = true; panelWaypoint.Visible = false; panelStatistic.Visible = false; panelTracker.Visible = false;

}

private void button1_Click(object sender, EventArgs e) // MENU WAYPOINT

{

sidePanel.Height = button1.Height;

sidePanel.Top = button1.Top;

tabControl1.SelectedTab = tabPage2;

panelFlight.Visible = false; panelWaypoint.Visible = true; panelStatistic.Visible = false; panelTracker.Visible = false;

}

private void button2_Click(object sender, EventArgs e) // MENU STATISTSTIC

{

sidePanel.Height = button2.Height;

sidePanel.Top = button2.Top;

tabControl1.SelectedTab = tabPage3;

panelFlight.Visible = false; panelWaypoint.Visible = false; panelStatistic.Visible = true; panelTracker.Visible = false;

}

private void buttonTracker_Click(object sender, EventArgs e) // MENU TRACKER

{

sidePanel.Height = buttonTracker.Height;

sidePanel.Top = buttonTracker.Top;

tabControl1.SelectedTab = tabPage4;

panelFlight.Visible = false; panelWaypoint.Visible = false; panelStatistic.Visible = false; panelTracker.Visible = true;

}

private async void buttonWrite_Click(object sender, EventArgs e)

{

using (SaveFileDialog sfd = new SaveFileDialog() { Filter = "Text Documents|*.txt", ValidateNames = true })

{

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

{

using (TextWriter tw = new StreamWriter(new FileStream(sfd.FileName, FileMode.Create), Encoding.UTF8))

{

foreach (ListViewItem item in listView1.Items)

{

await tw.WriteLineAsync("RPY" + textBoxRoll.Text + "\t" + textBoxPitch.Text + "\t" + textBoxYaw.Text + "#");

}

MessageBox.Show("WP Save Successfully", "Message", MessageBoxButtons.OK, MessageBoxIcon.Information);

}

}

}

}

private void displayingText(object sender, EventArgs e) // LIFE OF MONITORING ===================================================================

{

textBoxRx.Text = RxString;

string[] word = RxString.Split(',');

int count = word.Length;

double alti = 0, curlat = 0, curlng = 0, selisihlat = 0, selisihlng = 0, jlat, jlng, jy, jx, horizon, jx_jy, jy_jx;

double yaw = 0, pitch = 0, tinggiGCS = 1.55;

try

{

// TRACKER MONITORING

curlat = Convert.ToDouble(word[3]);

curlng = Convert.ToDouble(word[4]);

alti = Convert.ToDouble(word[5]);

if (flagGCS == 1 && flag_antena == 1)

{

//contoh data kuadran I

//data awal: -7.278985, 112.793415 | latitude (+)

//data akhir: -7.275577, 112.799019 | longitude (+)

//contoh data kuadran IV

//data awal: -7.279581, 112.793845 | latitude (-)

//data akhir: -7.281858, 112.798542 | longitude (+)

//contoh data kuadran III

//data awal: -7.279368, 112.794360 | latitude (-)

//data akhir: -7.281625, 112.789895 | longitude (-)

//contoh data kuadran II

//data awal: -7.279155, 112.794145 | latitude (+)

//data akhir: -7.276324, 112.789918 | longitude (-)

selisihlat = curlat - gcslat;

selisihlng = curlng - gcslong;

jlat = selisihlat * 3600;

jlng = selisihlng * 3600; // konversi ke detik derajat

jy = jlat * 30.416;

jx = jlng * 30.416; // 1 detik derajat = 30.416 meter [konversi jarak gps ke meter]

horizon = Math.Sqrt((jy * jy) + (jx * jx));

labeljarak.Text = Convert.ToString(horizon) + " m";

jx_jy = Math.Abs(jx) / Math.Abs(jy);

jy_jx = Math.Abs(jy) / Math.Abs(jx); // Hitung jarak horizonFmaptal

r1 = Math.Sqrt(Math.Pow(jx, 2) + Math.Pow(jy, 2));

r2 = Math.Sqrt(Math.Pow(alti, 2) + Math.Pow(r1, 2));

labelresultan.Text = Convert.ToString(r2); // hitung resultan

if (r2 > 7)

{ // pergerakan GCS dengan sudut yaw yang dikonversikan dari radian ke derajat

if (selisihlat > 0 && selisihlng > 0) // kwadran I

yaw = (Math.Atan(jx_jy)) * (180 / Math.PI);

else if (selisihlat < 0 && selisihlng > 0) // Kwadran II

yaw = 90 + (Math.Atan(jy_jx)) * (180 / Math.PI);

else if (selisihlat < 0 && selisihlng < 0) // Kwadran III

yaw = 180 + (Math.Atan(jx_jy)) * (180 / Math.PI);

else if (selisihlat > 0 && selisihlng < 0) // Kwadran IV

yaw = 270 + (Math.Atan(jy_jx)) * (180 / Math.PI);

else if (selisihlat == 0 && selisihlng > 0)

yaw = 90;

else if (selisihlat == 0 && selisihlng < 0)

yaw = 270;

else if (selisihlat > 0 && selisihlng == 0)

yaw = 0;

else if (selisihlat < 0 && selisihlng == 0)

yaw = 180;

else if (selisihlat == 0 && selisihlng == 0)

yaw = 0;

// pergerakan GCS dengan sudut pitch,, ketinggian payload dikurangi dengan ketinggian gcs terlebih dahulu

pitch = (Math.Atan(((alti - subsp) - tinggiGCS) / r1)) * (180 / Math.PI);

//pitch = (Math.Acos(r1 / r2) * (180 / Math.PI));

data_adc_yaw = adc_maksimal_yaw - (((adc_maksimal_yaw - adc_minimal_yaw) * yaw) / 360);

data_adc_pitch = adc_maksimal_pitch + (((adc_maksimal_pitch - adc_minimal_pitch) * pitch) / 90);

ribuan_yaw = (int)(data_adc_yaw / 1000);

ratusan_yaw = (int)(((data_adc_yaw) - (ribuan_yaw * 1000)) / 100);

puluhan_yaw = (int)(((data_adc_yaw) - (ribuan_yaw * 1000 + ratusan_yaw * 100)) / 10);

satuan_yaw = (int)(data_adc_yaw) - ((ribuan_yaw * 100 + ratusan_yaw * 10 + puluhan_yaw) * 10);

ribuan_pitch = (int)(data_adc_pitch / 1000);

ratusan_pitch = (int)(((data_adc_pitch) - (ribuan_pitch * 1000)) / 100);

puluhan_pitch = (int)(((data_adc_pitch) - (ribuan_pitch * 1000 + ratusan_pitch * 100)) / 10);

satuan_pitch = (int)(data_adc_pitch) - ((ribuan_pitch * 100 + ratusan_pitch * 10 + puluhan_pitch) * 10);

adc_yaw[0] = Convert.ToString(ribuan_yaw);

adc_pitch[0] = Convert.ToString(ribuan_pitch);

adc_yaw[1] = Convert.ToString(ratusan_yaw);

adc_pitch[1] = Convert.ToString(ratusan_pitch);

adc_yaw[2] = Convert.ToString(puluhan_yaw);

adc_pitch[2] = Convert.ToString(puluhan_pitch);

adc_yaw[3] = Convert.ToString(satuan_yaw);

adc_pitch[3] = Convert.ToString(satuan_pitch);

}

textAngleYaw.Text = Convert.ToString(yaw);

textPitchAngle.Text = Convert.ToString(pitch);

}

if (count == 12)

{

// SENSOR MONITORING

textBoxRoll.Text = word[0];

textBoxPitch.Text = word[1];

textBoxYaw.Text = word[2];

textBoxLintangP.Text = textBoxLatitude.Text = word[3];

textBoxBujurP.Text = textBoxLongtitude.Text = word[4];

textBoxAltitude.Text = word[5];

attitudeIndicatorInstrumentControl1.SetAttitudeIndicatorParameters(Convert.ToDouble(word[1]), Convert.ToDouble(word[0]));

int heading = (Int16)Convert.ToDouble(word[2]) + 90;

if (heading > 360) heading = heading - 360;

headingIndicatorInstrumentControl1.SetHeadingIndicatorParameters(heading);

// CHART MONITORING

de++;

chart4.Series["PITCH"].Points.AddY(textBoxPitch.Text);

chart4.Series["ROLL"].Points.AddY(textBoxRoll.Text);

chart4.Series["YAW"].Points.AddY(textBoxYaw.Text);

tabel.Rows.Add(textBoxYaw.Text, textBoxPitch.Text, textBoxRoll.Text);

dataGridView1.DataSource = tabel;

if (de == 100)

{

chart4.Series["PITCH"].Points.RemoveAt(0);

chart4.Series["ROLL"].Points.RemoveAt(0);

chart4.Series["YAW"].Points.RemoveAt(0);

tabel.Rows.RemoveAt(0);

de = 99;

}

// WAYPOINTS MONITORING

double lat = Convert.ToDouble(word[3]);

double lng = Convert.ToDouble(word[4]);

//int flag = Convert.ToInt16(word[10]);

//if (flag == 1)

//{

// var marker = new GMarkerGoogle(_points[flek], GMarkerGoogleType.blue);

// markers.Markers.Add(marker);

// marker.ToolTipMode = MarkerTooltipMode.OnMouseOver;

// gMapControl1.Overlays.Add(markers);

// flek++;

//}

if (nomer_titik == 0)

{

GMapOverlay markersOverlay = new GMapOverlay("markers");

posisi_pesawat = new GMarkerGoogle(new PointLatLng(lat, lng), new Bitmap(@"C:\Users\Febby Ronaldo\Documents\Visual Studio 2013\Projects\GUI_KRTI_BismillahNyoba\GUI_KRTI_BismillahNyoba\bin\Debug\mdrone.png"));

posisi_pesawat.ToolTipText = lat + "," + lng;

posisi_pesawat.ToolTipMode = MarkerTooltipMode.Always;

markersOverlay.Markers.Add(posisi_pesawat);

gMapControl2.Overlays.Add(markersOverlay);

gMapControl2.Position = new PointLatLng(lat, lng);

gMapControl1.Overlays.Add(markersOverlay);

gMapControl1.Position = new PointLatLng(lat, lng);

nomer_titik++;

}

else

{

posisi_pesawat.Position = new PointLatLng(lat, lng);

posisi_pesawat.ToolTipText = lat + "," + lng;

_jalur.Add(posisi_pesawat.Position);

cd++;

var buatjalur = new GMapRoute(_jalur, "My Track")

{

Stroke = new Pen(Color.Blue, 1)

};

buatjalur.IsHitTestVisible = true;

track.Routes.Add(buatjalur);

gMapControl1.Overlays.Add(track);

if (cd == 2)

{

_jalur.RemoveAt(0);

cd = 1;

}

}

if (_jalur[0] == _points[flek])

{

var marker = new GMarkerGoogle(_points[flek], GMarkerGoogleType.blue);

markers.Markers.Add(marker);

marker.ToolTipMode = MarkerTooltipMode.OnMouseOver;

gMapControl1.Overlays.Add(markers);

flek++;

}

gMapControl2.Invalidate();

gMapControl1.Invalidate();

}

}

catch

{

}

}

// TABPAGE 1 ====================================================================================================================================

private void serialPort1_DataReceived(object sender, SerialDataReceivedEventArgs e)

{

if (serialPort1.IsOpen)

{

this.RxString = serialPort1.ReadLine();

this.Invoke(new EventHandler(displayingText));

}

}

private void gMapControl2_Load_1(object sender, EventArgs e)

{

//Map Tab Mission

gMapControl1.DragButton = MouseButtons.Left;

//gMapControl1.CanDragMap = true;

gMapControl1.MapProvider = GMap.NET.MapProviders.GoogleMapProvider.Instance;

GMap.NET.GMaps.Instance.Mode = GMap.NET.AccessMode.CacheOnly;

gMapControl1.ShowCenter = false;

gMapControl1.Position = new PointLatLng(-7.2778145, 112.7941234);

gMapControl1.MinZoom = 0;

gMapControl1.MaxZoom = 24;

gMapControl1.Zoom = 16;

gMapControl1.AutoScroll = true;

gMapControl1.MouseWheelZoomType = GMap.NET.MouseWheelZoomType.MousePositionWithoutCenter;

gMapControl1.IgnoreMarkerOnMouseWheel = true;

//List View Configuration

listView1.Columns.Add("Latitude", 150);

listView1.Columns.Add("Longitude", 150);

//Map Tab Monitoring

///*

gMapControl2.DragButton = MouseButtons.Left;

gMapControl2.CanDragMap = true;

gMapControl2.MapProvider = GMap.NET.MapProviders.GoogleMapProvider.Instance;

GMap.NET.GMaps.Instance.Mode = GMap.NET.AccessMode.CacheOnly;

gMapControl2.Position = new PointLatLng(37.983, -1.133);

gMapControl2.MinZoom = 0;

gMapControl2.MaxZoom = 24;

gMapControl2.Zoom = 16;

gMapControl2.AutoScroll = true;

//*/

}

private void add(String latwp, String lngwp)

{

//Array to representation a row

string[] row = { latwp, lngwp };

ListViewItem item = new ListViewItem(row);

//Add it to list view

listView1.Items.Add(item);

}

private void buttonGoTo_Click(object sender, EventArgs e)

{

double lat = Convert.ToDouble(textBoxLatitude.Text);

double lng = Convert.ToDouble(textBoxLongtitude.Text);

if (nomer_titik == 0)

{

GMapOverlay markersOverlay = new GMapOverlay("markers");

posisi_pesawat = new GMarkerGoogle(new PointLatLng(lat, lng), new Bitmap(@"C:\Users\Febby Ronaldo\Documents\Visual Studio 2013\Projects\GUI_KRTI_BismillahNyoba\GUI_KRTI_BismillahNyoba\bin\Debug\mdrone.png"));

posisi_pesawat.ToolTipText = lat + "," + lng;

posisi_pesawat.ToolTipMode = MarkerTooltipMode.Always;

markersOverlay.Markers.Add(posisi_pesawat);

gMapControl2.Overlays.Add(markersOverlay);

gMapControl2.Position = new PointLatLng(lat, lng);

nomer_titik++;

}

else

{

posisi_pesawat.Position = new PointLatLng(lat, lng);

posisi_pesawat.ToolTipText = lat + "," + lng;

}

gMapControl2.Invalidate();

}

private void buttonRead_Click(object sender, EventArgs e)

{

try

{

textBoxRx.Text = serialPort1.ReadLine();

}

catch (TimeoutException)

{

textBoxRx.Text = "Timeout Exception";

}

string[] word = textBoxRx.Text.Split(',');

try

{

textBoxRoll.Text = word[0];

textBoxPitch.Text = word[1];

textBoxYaw.Text = word[2];

textBoxLatitude.Text = word[3];

textBoxLongtitude.Text = word[4];

textBoxAltitude.Text = word[5];

} catch (Exception)

{

textBoxRx.Text = "Received Data invalid";

}

}

private void buttonConnect_Click(object sender, EventArgs e)

{

try

{

if (comboBox_port.Text == "" || comboBoxBaudrate.Text == "")

{

}

else

{

serialPort1.PortName = comboBox_port.Text;

serialPort1.BaudRate = Convert.ToInt32(comboBoxBaudrate.Text);

serialPort1.Open();

textBoxRx.Enabled = true;

buttonRead.Enabled = true;

buttonConnect.Enabled = true;

serialPort1.WriteLine("Connect");

}

}

catch (Exception err)

{

MessageBox.Show(err.Message, "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);

}

if (serialPort1.IsOpen)

{

buttonConnect.Enabled = false;

buttonDisconnect.Enabled = true;

MessageBox.Show("Connected Successfully", "Message", MessageBoxButtons.OK, MessageBoxIcon.Information);

}

else

{

buttonConnect.Enabled = true;

buttonDisconnect.Enabled = false;

}

}

private void buttonDisconnect_Click(object sender, EventArgs e)

{

//serialPort1.Close();

textBoxRx.Enabled = false;

buttonRead.Enabled = false;

buttonConnect.Enabled = false;

if (serialPort1.IsOpen)

{

buttonConnect.Enabled = false;

buttonDisconnect.Enabled = true;

}

else

{

buttonConnect.Enabled = true;

buttonDisconnect.Enabled = false;

}

}

private void buttonPlay_Click(object sender, EventArgs e)

{

var path = textBoxBrowse.Text;

if (!String.IsNullOrEmpty(path))

{

startVideoCapture(path);

}

}

private void startVideoCapture(string path)

{

var date = DateTime.Now.Year + "y-" + DateTime.Now.Month + "m-" + DateTime.Now.Day + "d-" +

DateTime.Now.Hour + "h-" + DateTime.Now.Minute + "m-" + DateTime.Now.Second + "s";

string currentpath;

if (String.IsNullOrEmpty(path))

{

currentpath = date + ".mp4";

}

else

currentpath = path + "\\" + date + ".mp4";

_mpeg4Recorder = new MPEG4Recorder(currentpath);

_mpeg4Recorder.MultiplexFinished += mPEG4Recorder_MultiplexFinished;

_connector.Connect(_camera.AudioChannel, _mpeg4Recorder.AudioRecorder);

_connector.Connect(_camera.VideoChannel, _mpeg4Recorder.VideoRecorder);

}

private void mPEG4Recorder_MultiplexFinished(object sender, EventArgs e)

{

_connector.Disconnect(_camera.AudioChannel, _mpeg4Recorder.AudioRecorder);

_connector.Disconnect(_camera.VideoChannel, _mpeg4Recorder.VideoRecorder);

_mpeg4Recorder.Dispose();

}

private void buttonStop_Click(object sender, EventArgs e)

{

stopVideoCapture();

}

private void stopVideoCapture()

{

if (_mpeg4Recorder != null)

{

_mpeg4Recorder.Multiplex();

_connector.Disconnect(_camera.AudioChannel, _mpeg4Recorder.AudioRecorder);

_connector.Disconnect(_camera.VideoChannel, _mpeg4Recorder.VideoRecorder);

}

}

private void cameraBox_Click(object sender, EventArgs e)

{

}

Point curPoint;

private void moveWindow_MouseDown(object sender, MouseEventArgs e)

{

curPoint = new Point(e.X, e.Y);

}

private void moveWindow_MouseMove(object sender, MouseEventArgs e)

{

if(e.Button == MouseButtons.Left)

{

this.Left += e.X - curPoint.X;

this.Top += e.Y - curPoint.Y;

}

}

private void comboBox_port_SelectedIndexChanged(object sender, EventArgs e)

{

}

private void buttonSave_Click(object sender, EventArgs e)

{

var result = folderBrowserDialog1.ShowDialog();

if (result == DialogResult.OK)

{

textBoxBrowse.Text = folderBrowserDialog1.SelectedPath;

}

}

private void buttonShot_Click(object sender, EventArgs e)

{

var path = textBoxBrowse.Text;

createSnapshot(path);

}

private void createSnapshot(string path)

{

var date = DateTime.Now.Year + "y-" + DateTime.Now.Month + "m-" + DateTime.Now.Day + "d-" +

DateTime.Now.Hour + "h-" + DateTime.Now.Minute + "m-" + DateTime.Now.Second + "s";

string currentpath;

if (string.IsNullOrEmpty(path))

currentpath = date + ".jpg";

else

currentpath = path + "\\" + date + ".jpg";

var kuy = _snapshotHandler.TakeSnapshot().ToImage();

kuy.Save(currentpath, System.Drawing.Imaging.ImageFormat.Jpeg);

}

private void buttonOzeki_Click(object sender, EventArgs e)

{

//_camera = IPCameraFactory.GetCamera("rtsp://192.168.42.1/live", "", "");

_camera = IPCameraFactory.GetCamera("rtsp://192.168.0.3:8554/unicast", "", "");

//_camera = IPCameraFactory.GetCamera("rtsp://192.168.43.153:8554/unicast", "", "");

_connector.Connect(_camera.VideoChannel, _imageProvider);

_connector.Connect(_camera.VideoChannel, _snapshotHandler);

_videoViewerWF1.SetImageProvider(_imageProvider);

_videoViewerWF1.Start();

buttonOzeki.BackgroundImage = GUI_KRTI_BismillahNyoba.Properties.Resources.icons8_wi_fi_filled_50;

_camera.Start();

}

// TABPAGE 2 ====================================================================================================================================

private async void SaveWP_Click(object sender, EventArgs e)

{

using (SaveFileDialog sfd = new SaveFileDialog() { Filter = "Text Documents|*.txt", ValidateNames = true })

{

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

{

using (TextWriter tw = new StreamWriter(new FileStream(sfd.FileName, FileMode.Create), Encoding.UTF8))

{

foreach (ListViewItem item in listView1.Items)

{

await tw.WriteLineAsync("WP" + item.SubItems[0].Text + "\t" + item.SubItems[1].Text + "#");

}

MessageBox.Show("WP Save Successfully", "Message", MessageBoxButtons.OK, MessageBoxIcon.Information);

}

}

}

}

private void button6_Click(object sender, EventArgs e)

{

_points.RemoveAt(0);

}

private void Remove_Click(object sender, EventArgs e)

{

if (gMapControl1.Overlays.Count > 0)

{

_points.Clear();

//gMapControl1.Overlays.Remove(markers);

gMapControl1.Overlays.RemoveAt(0);

markers.Markers.Clear();

rute.Routes.Clear();

gMapControl1.Refresh();

//markers.Markers.Remove(markers);

listView1.Items.Clear();

}

}

private void LoadMap(PointLatLng point)

{

gMapControl1.Position = point;

}

private void Waypoint(PointLatLng pointToAdd, GMarkerGoogleType markerType = GMarkerGoogleType.yellow)

{

var marker = new GMarkerGoogle(pointToAdd, markerType);

markers.Markers.Add(marker);

marker.ToolTipText = "WP-" + urut;

marker.ToolTipMode = MarkerTooltipMode.OnMouseOver;

gMapControl1.Overlays.Add(markers);

urut++;

}

private void ListView(PointLatLng point)

{

_points.Add(point);

add(txtLatitude.Text, txtLongitude.Text);

}

private void gMapControl1_MouseClick(object sender, MouseEventArgs e)

{

var point = gMapControl1.FromLocalToLatLng(e.X, e.Y);

if (e.Button == MouseButtons.Right)

{

double lat = point.Lat;

double lng = point.Lng;

txtLatitude.Text = lat + "";

txtLongitude.Text = lng + "";

//Load Location

LoadMap(point);

//Add marker

Waypoint(point);

//CreateCircle(point, 5);

//add to listview

ListView(point);

var buatrute = new GMapRoute(_points, "My Area")

{

Stroke = new Pen(Color.Red, 2)

};

buatrute.IsHitTestVisible = true;

rute.Routes.Add(buatrute);

gMapControl1.Overlays.Add(rute);

double distance = buatrute.Distance;

textDistance.Text = distance.ToString();

}

}

private void SendWP_Click(object sender, EventArgs e)

{

if (serialPort1.IsOpen)

{

foreach (ListViewItem item in listView1.Items)

{

serialPort1.WriteLine("W," + item.SubItems[0].Text + "," + item.SubItems[1].Text);

}

}

}

private void gMapControl1_Load(object sender, EventArgs e)

{

}

private void button4_Click(object sender, EventArgs e)

{

if (i == 0)

{

gMapControl1.MapProvider = GMap.NET.MapProviders.GoogleChinaSatelliteMapProvider.Instance;

gMapControl2.MapProvider = GMap.NET.MapProviders.GoogleChinaSatelliteMapProvider.Instance;

i = 1;

}

else if (i == 1)

{

gMapControl1.MapProvider = GMap.NET.MapProviders.GoogleMapProvider.Instance;

gMapControl2.MapProvider = GMap.NET.MapProviders.GoogleMapProvider.Instance;

i = 0;

}

}

// TABPAGE 4 ====================================================================================================================================

private void timer2_Tick(object sender, EventArgs e)

{

try

{

tick++;

if (tick % 2 == 0) {

time = tick / 2;

}

if (r1 > 10) {

serialPort2.Write("SD,");

serialPort2.Write(adc_yaw[0]);

serialPort2.Write(adc_yaw[1]);

serialPort2.Write(adc_yaw[2]);

serialPort2.Write(adc_yaw[3]);

serialPort2.Write(",");

serialPort2.Write(adc_pitch[0]);

serialPort2.Write(adc_pitch[1]);

serialPort2.Write(adc_pitch[2]);

serialPort2.Write(adc_pitch[3]);

serialPort2.Write(",");

}

}

catch { }

textBoxRx2.Text = "SD," + adc_yaw[0] + adc_yaw[1] + adc_yaw[2] + adc_yaw[3] + "," +

adc_pitch[0] + adc_pitch[1] + adc_pitch[2] + adc_pitch[3] + ",";

}

private void button9_Click(object sender, EventArgs e)

{

//try

//{

flagGCS = 1;

gslat = gcslat = Convert.ToDouble(textBoxLintangT.Text);

gslong = gcslong = Convert.ToDouble(textBoxBujurT.Text);

textBoxLintangT.ReadOnly = true;

textBoxBujurT.ReadOnly = true;

//}

//catch { }

}

private void buttonKonek_Click(object sender, EventArgs e)

{

if (serialPort2.IsOpen == false)

{

try

{

serialPort2.PortName = comboPort2.Text.ToString();

serialPort2.BaudRate = Convert.ToInt32(comboBaudrate2.Text);

serialPort2.Encoding = Encoding.Default;

serialPort2.Open();

buttonKonek.BackgroundImage = GUI_KRTI_BismillahNyoba.Properties.Resources.icons8_connected_80;

label26.Text = "Connected";

//timer2.Start();

}

catch { MessageBox.Show("Serial Port Error!!"); }

}

else {

serialPort2.Close();

buttonKonek.BackgroundImage = GUI_KRTI_BismillahNyoba.Properties.Resources.icons8_disconnected_80;

label26.Text = "Disconnected";

//timer2.Stop();

}

}

private void button8_Click(object sender, EventArgs e)

{

try {

//serialPort1.Write("sd");

//serialPort1.Write("sd");

//serialPort1.Write("sd");

//serialPort1.Write("sd");

//serialPort1.Write("sd");

//serialPort1.Write("sd");

timer2.Start();

//serialPort2.WriteLine(textBoxRx2.Text);

}

catch { MessageBox.Show("Hubungan Serial Data Error!"); }

}

private void button7_Click(object sender, EventArgs e)

{

try {

//serialPort1.Write("st\r\n");

timer2.Stop();

}

catch { }

}

private void button10_Click(object sender, EventArgs e)

{

textBoxLintangT.Text = textBoxLintangP.Text;

textBoxBujurT.Text = textBoxBujurP.Text;

}

private void CreateCircle(PointLatLng point, double radius)

{

int segments = 1000;

gpollist = new List<PointLatLng>();

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

gpollist.Add(FindPointAtDistanceFrom(point, i, radius / 1000));

GMapPolygon gpol = new GMapPolygon(gpollist, "pol");

markers.Polygons.Add(gpol);

}

public static PointLatLng FindPointAtDistanceFrom(PointLatLng startPoint, double initialBearingRadians, double distanceKilometres)

{

const double radiusEarthKilometres = 6371.01;

var distRatio = distanceKilometres / radiusEarthKilometres;

var distRatioSine = Math.Sin(distRatio);

var distRatioCosine = Math.Cos(distRatio);

var startLatRad = DegreesToRadians(startPoint.Lat);

var startLonRad = DegreesToRadians(startPoint.Lng);

var startLatCos = Math.Cos(startLatRad);

var startLatSin = Math.Sin(startLatRad);

var endLatRads = Math.Asin((startLatSin * distRatioCosine) + (startLatCos * distRatioSine * Math.Cos(initialBearingRadians)));

var endLonRads = startLonRad + Math.Atan2(

Math.Sin(initialBearingRadians) * distRatioSine * startLatCos,

distRatioCosine - startLatSin * Math.Sin(endLatRads));

return new PointLatLng(RadiansToDegrees(endLatRads), RadiansToDegrees(endLonRads));

}

public static double DegreesToRadians(double degrees)

{

const double degToRadFactor = Math.PI / 180;

return degrees * degToRadFactor;

}

public static double RadiansToDegrees(double radians)

{

const double radToDegFactor = 180 / Math.PI;

return radians * radToDegFactor;

}

}