public static void Main()
{
string ServiceURL = "http://localhost:8080";
using (Loading xl = new Loading())
{
try
{
xl.Table = "ZSFDC_TABLE";
xl.Procedure = "ZSFDC_TEST";
xl.Environment = "company";
xl.set_AddColumn(1, new LoadColumn("USERNAME", tColumnType.typeCHAR));
xl.set_AddColumn(1, new LoadColumn("WARHS", tColumnType.typeCHAR));
xl.set_AddColumn(1, new LoadColumn("BIN", tColumnType.typeCHAR));
xl.set_AddColumn(1, new LoadColumn("CURDATE", tColumnType.typeDATE));
xl.set_AddColumn(2, new LoadColumn("PART", tColumnType.typeCHAR));
xl.set_AddColumn(2, new LoadColumn("STATUS", tColumnType.typeCHAR));
xl.set_AddColumn(2, new LoadColumn("CQUANT", tColumnType.typeINT));
xl.set_AddRecordType(1, new LoadRow("user", "Main", "0", DateTime.Now.ToString()));
xl.set_AddRecordType(2, new LoadRow("PART123", "Goods", "1"));
xl.set_AddRecordType(2, new LoadRow("PART321", "Goods", "1"));
Exception exp = new Exception();
if (!xl.Post(ServiceURL, ref exp)) throw exp;
}
catch (Exception ex)
{
System.Windows.Forms.MessageBox.Show(ex.Message);
}
}
}
private void LoadComplete()
{
if (null != view) {
ResourceSystem.Instance.RecycleObject(view.gameObject);
}
view = null;
async = null;
}
void Awake(){
if (instance){
Destroy(gameObject);
hide();
return;
}
instance = this;
gameObject.AddComponent<GUITexture>().enabled = false;
guiTexture.texture = texture;
transform.position = new Vector3(positionX, positionY, positionZ);
DontDestroyOnLoad(this);
}
public void button1_Click(object sender, EventArgs e)
{
Loading l = new Loading();
try
{
button1.Enabled = false;
button2.Enabled = false;
this.Hide();
l.Show();
l.Refresh();
readAllResourceFiles(txtBoxPath.Text.ToString());
l.Close();
this.Close();
}
catch (Exception exce)
{
MessageBox.Show(exce.Message);
this.Show();
l.Close();
button1.Enabled = true;
button2.Enabled = true;
}
}
private void Death()
{
// death handle
Loading.Load(LoadingScene.Menu);
}
public void UpdatePositions()
{
// get current positions and velocitys
foreach (var drone in Drones)
{
if (drone.Location == null)
{
drone.Location = new PointLatLngAlt();
}
drone.Location.Lat = drone.MavState.cs.lat;
drone.Location.Lng = drone.MavState.cs.lng;
drone.Location.Alt = drone.MavState.cs.alt;
if (drone.Velocity == null)
{
drone.Velocity = new Vector3();
}
drone.Velocity.x = drone.MavState.cs.vx;
drone.Velocity.y = drone.MavState.cs.vy;
drone.Velocity.z = drone.MavState.cs.vz;
}
switch (CurrentMode)
{
case Mode.idle:
// request positon at 10hz
foreach (var drone in Drones)
{
var MAV = drone.MavState;
MAV.parent.requestDatastream(MAVLink.MAV_DATA_STREAM.POSITION, 10, MAV.sysid, MAV.compid);
MAV.cs.rateposition = 10;
drone.takeoffdone = false;
}
CurrentMode = Mode.takeoff;
break;
case Mode.takeoff:
int g = Drones.Count;
int aa = -1;
foreach (var drone in Drones)
{
aa++;
g--;
var MAV = drone.MavState;
try
{
// guided mode
if (!MAV.cs.mode.ToLower().Equals("guided"))
{
MAV.parent.setMode(MAV.sysid, MAV.compid, "GUIDED");
}
// arm
if (!MAV.cs.armed)
{
if (!MAV.parent.doARM(MAV.sysid, MAV.compid, true))
{
return;
}
}
}
catch (Exception ex)
{
log.Error(ex);
Loading.ShowLoading("Communication with one of the drones is failing\n" + ex);
return;
}
// get base to drone dist and bearing
var basepos = GetBasePosition();
var dronepos = drone.Location;
if (basepos == null)
{
return;
}
var dist = basepos.GetDistance(dronepos);
var bearing = basepos.GetBearing(dronepos);
// set drone target position
drone.TargetLocation = basepos.newpos(bearing, dist);
drone.TargetLocation.Alt = TakeOffAlt + g * 2;
try
{
// takeoff
if (MAV.cs.alt < drone.TargetLocation.Alt - 0.5)
{
if (MAV.parent.doCommand(MAV.sysid, MAV.compid, MAVLink.MAV_CMD.TAKEOFF, 0, 0, 0, 0, 0,
0, (float)drone.TargetLocation.Alt))
{
drone.takeoffdone = true;
}
}
}
catch (Exception ex)
{
log.Error(ex);
Loading.ShowLoading("Communication with one of the drones is failing\n" + ex);
return;
}
drone.MavState.GuidedMode.x = (int)(drone.TargetLocation.Lat * 1e7);
drone.MavState.GuidedMode.y = (int)(drone.TargetLocation.Lng * 1e7);
drone.MavState.GuidedMode.z = (float)drone.TargetLocation.Alt;
// wait for takeoff
if (MAV.cs.alt < drone.TargetLocation.Alt - 0.5)
{
Thread.Sleep(100);
// check we are still armed
if (!MAV.cs.armed)
{
return;
}
drone.TargetVelocity = GetBaseVelocity();
//drone.SendPositionVelocity(drone.TargetLocation, drone.TargetVelocity);
drone.MavState.GuidedMode.x = (int)((float)drone.TargetLocation.Lat * 1e7);
drone.MavState.GuidedMode.y = (int)((float)drone.TargetLocation.Lng * 1e7);
drone.MavState.GuidedMode.z = (float)drone.TargetLocation.Alt;
// alt target must be reached
return;
}
// we should only get here once takeoff alt has been archived by this drone.
drone.TargetLocation = GetDronePosition(drone, aa);
// position control
drone.SendPositionVelocity(drone.TargetLocation, Vector3.Zero);
drone.MavState.GuidedMode.x = (int)((float)drone.TargetLocation.Lat * 1e7);
drone.MavState.GuidedMode.y = (int)((float)drone.TargetLocation.Lng * 1e7);
drone.MavState.GuidedMode.z = (float)drone.TargetLocation.Alt;
}
CurrentMode = Mode.alongside;
break;
case Mode.alongside:
int a = 0;
foreach (var drone in Drones)
{
// set drone target position
drone.TargetLocation = GetDronePosition(drone, a);
drone.TargetLocation.Alt = TakeOffAlt;
a++;
drone.TargetVelocity = GetBaseVelocity();
// position control
drone.SendPositionVelocity(drone.TargetLocation, drone.TargetVelocity);
// apply yaw
if (GetBasePosition()?.Heading != null)
{
drone.SendYaw(GetBasePosition().Heading);
}
drone.MavState.GuidedMode.x = (int)((float)drone.TargetLocation.Lat * 1e7);
drone.MavState.GuidedMode.y = (int)((float)drone.TargetLocation.Lng * 1e7);
drone.MavState.GuidedMode.z = (float)drone.TargetLocation.Alt;
}
break;
case Mode.z:
int d = 0;
foreach (var drone in Drones)
{
// set drone target position
drone.TargetLocation = GetDronePosition(drone, d);
drone.TargetLocation.Alt = TakeOffAlt;
d++;
drone.TargetVelocity = GetBaseVelocity();
// position control
drone.SendPositionVelocity(drone.TargetLocation, drone.TargetVelocity);
// apply yaw
if (GetBasePosition()?.Heading != null)
{
drone.SendYaw(GetBasePosition().Heading);
}
drone.MavState.GuidedMode.x = (int)((float)drone.TargetLocation.Lat * 1e7);
drone.MavState.GuidedMode.y = (int)((float)drone.TargetLocation.Lng * 1e7);
drone.MavState.GuidedMode.z = (float)drone.TargetLocation.Alt;
}
break;
case Mode.LandAlt:
var e = 0;
foreach (var drone in Drones)
{
drone.TargetLocation = GetDronePosition(drone, e);
drone.TargetLocation.Alt = TakeOffAlt + e * 2;
// position control
drone.SendPositionVelocity(drone.TargetLocation, Vector3.Zero);
drone.MavState.GuidedMode.z = (float)drone.TargetLocation.Alt;
Thread.Sleep(200);
drone.SendPositionVelocity(drone.TargetLocation, Vector3.Zero);
e++;
}
// check status
foreach (var drone in Drones)
{
// wait for alt hit
while (Math.Abs(drone.MavState.cs.alt - drone.TargetLocation.Alt) > 0.5)
{
if (!drone.MavState.cs.armed)
{
break;
}
Thread.Sleep(200);
drone.SendPositionVelocity(drone.TargetLocation, Vector3.Zero);
}
Thread.Sleep(200);
}
CurrentMode = Mode.Land;
break;
case Mode.Land:
Drone landing = null;
foreach (var drone in Drones)
{
if (drone.MavState.cs.armed)
{
landing = drone;
var basePosition = GetBasePosition();
var basevelocity = GetBaseVelocity();
drone.SendYaw(basePosition.Heading);
drone.TargetLocation = basePosition;
drone.TargetVelocity = basevelocity;
if (drone.Location.GetDistance(drone.TargetLocation) < 2)
{
drone.TargetLocation.Alt = drone.Location.Alt - 2;
}
else
{
// same alt - 0.4
drone.TargetLocation.Alt = drone.Location.Alt - 0.4;
}
drone.SendPositionVelocity(drone.TargetLocation, drone.TargetVelocity);
// one drone at a time
break;
}
}
int f = 0;
foreach (var drone in Drones)
{
if (drone == landing)
{
continue;
}
// set drone target position
drone.TargetLocation = GetDronePosition(drone, f);
f++;
// position control
drone.SendPositionVelocity(drone.TargetLocation, drone.TargetVelocity);
drone.MavState.GuidedMode.x = (int)((float)drone.TargetLocation.Lat * 1e7);
drone.MavState.GuidedMode.y = (int)((float)drone.TargetLocation.Lng * 1e7);
drone.MavState.GuidedMode.z = (float)drone.TargetLocation.Alt;
}
break;
}
}
public void Show()
{
GameObject obj = ResourceSystem.Instance.NewObject("UI/Loading") as GameObject;
view = obj.GetComponent<Loading>();
view.SetProgress(0);
}
internal static void HideLoading(Loading loading)
{
loading.Visibility = Visibility.Collapsed;
}
private async void JournalsForm_Load(object sender, EventArgs e)
{
await Loading?.Invoke();
DGV_Journal.Focus();
}
/// <summary>
/// Loads the surface from bytes. Clears the surface before and uses context source data as a surface bytes source.
/// </summary>
/// <remarks>
/// Assume this method does not throw exceptions but uses return value as a error code.
/// </remarks>
/// <returns>True if failed, otherwise false.</returns>
public bool Load()
{
if (_surface != null)
{
_surface._isUpdatingBoxTypes++;
}
try
{
// Prepare
Clear();
Loading?.Invoke(this);
// Load bytes
var bytes = Context.SurfaceData;
if (bytes == null)
{
throw new Exception("Failed to load surface data.");
}
// Load graph (empty bytes data means empty graph for simplicity when using subgraphs)
if (bytes.Length > 0)
{
using (var stream = new MemoryStream(bytes))
using (var reader = new BinaryReader(stream))
{
LoadGraph(reader);
}
}
// Load surface meta
var meta = _meta.GetEntry(10);
if (meta.Data != null)
{
Utils.ByteArrayToStructure(meta.Data, out CachedSurfaceMeta);
}
else
{
// Reset view
CachedSurfaceMeta.ViewCenterPosition = Float2.Zero;
CachedSurfaceMeta.Scale = 1.0f;
}
// [Deprecated on 04.07.2019] Load surface comments
var commentsData = _meta.GetEntry(666);
if (commentsData.Data != null)
{
using (var stream = new MemoryStream(commentsData.Data))
using (var reader = new BinaryReader(stream))
{
var commentsCount = reader.ReadInt32();
for (int i = 0; i < commentsCount; i++)
{
var title = reader.ReadStr(71);
var color = new Color(reader.ReadSingle(), reader.ReadSingle(), reader.ReadSingle(), reader.ReadSingle());
var bounds = new Rectangle(reader.ReadSingle(), reader.ReadSingle(), reader.ReadSingle(), reader.ReadSingle());
var comment = SpawnComment(ref bounds, title, color);
if (comment == null)
{
throw new InvalidOperationException("Failed to create comment.");
}
OnControlLoaded(comment);
}
}
}
// Post load
for (int i = 0; i < RootControl.Children.Count; i++)
{
if (RootControl.Children[i] is SurfaceControl control)
{
control.OnSurfaceLoaded();
}
}
RootControl.UnlockChildrenRecursive();
// Update boxes types for nodes that dependant box types based on incoming connections
{
bool keepUpdating = false;
int updateLimit = 100;
do
{
for (int i = 0; i < RootControl.Children.Count; i++)
{
if (RootControl.Children[i] is SurfaceNode node && !node.HasDependentBoxesSetup)
{
node.UpdateBoxesTypes();
keepUpdating = true;
}
}
} while (keepUpdating && updateLimit-- > 0);
}
Loaded?.Invoke(this);
// Clear modification flag
_isModified = false;
}
catch (Exception ex)
{
// Error
Editor.LogWarning("Loading Visject Surface data failed.");
Editor.LogWarning(ex);
return(true);
}
finally
{
if (_surface != null)
{
_surface._isUpdatingBoxTypes--;
}
}
return(false);
}
public void UpdatePositions()
{
if (airmaster == null || groundmaster == null)
{
return;
}
// get current positions and velocitys
foreach (var drone in Drones)
{
if (drone.Location == null)
{
drone.Location = new PointLatLngAlt();
}
drone.Location.Lat = drone.MavState.cs.lat;
drone.Location.Lng = drone.MavState.cs.lng;
drone.Location.Alt = drone.MavState.cs.alt;
if (drone.Velocity == null)
{
drone.Velocity = new Vector3();
}
drone.Velocity.x = Math.Cos(drone.MavState.cs.groundcourse * deg2rad) * drone.MavState.cs.groundspeed;
drone.Velocity.y = Math.Sin(drone.MavState.cs.groundcourse * deg2rad) * drone.MavState.cs.groundspeed;
drone.Velocity.z = drone.MavState.cs.verticalspeed;
// set default target as ground reference
drone.TargetVelocity = GroundMasterDrone.Velocity;
}
// generate a new list including the airmaster first
List <Drone> newlist = new List <Drone>();
newlist.Add(AirMasterDrone);
// get list to remove airmaster and groundmaster
List <Drone> newlist2 = new List <Drone>();
newlist2.AddRange(Drones);
newlist2.Remove(AirMasterDrone);
newlist2.Remove(GroundMasterDrone);
// add modified list back
newlist.AddRange(newlist2);
// collision check
foreach (var drone1 in newlist)
{
// ground drone is not part of the check
if (drone1 == GroundMasterDrone)
{
continue;
}
if (!drone1.MavState.cs.armed)
{
continue;
}
foreach (var drone2 in newlist)
{
if (drone1 == drone2)
{
continue;
}
if (drone2 == GroundMasterDrone)
{
continue;
}
if (!drone2.MavState.cs.armed)
{
continue;
}
// check how close they are based on current position
if (drone1.Location.GetDistance(drone2.Location) < Seperation / 2)
{
// check if the alt seperation is less than 1m
if (Math.Abs(drone1.Location.Alt - drone2.Location.Alt) < 1)
{
// check which is higher already, and seperate further
if (drone1.Location.Alt > drone2.Location.Alt)
{
drone1.SendPositionVelocity(new PointLatLngAlt(drone1.Location)
{
Alt = drone1.Location.Alt + Takeoff_Land_alt_sep
}, Vector3.Zero);
return;
}
else
{
drone2.SendPositionVelocity(new PointLatLngAlt(drone2.Location)
{
Alt = drone2.Location.Alt + Takeoff_Land_alt_sep
}, Vector3.Zero);
return;
}
}
}
// check how close they are based on a 1 second projection
if (drone1.ProjectedLocation.GetDistance(drone2.ProjectedLocation) < Seperation / 2)
{
// check if they are heading the same direction
if (((Math.Abs(drone1.Heading - drone2.Heading) + 360) % 360) < 45 && drone1.MavState.cs.groundspeed > 0.5)
{
// check if the alt seperation is less than 1m
if (Math.Abs(drone1.Location.Alt - drone2.Location.Alt) < 1)
{
// they are heading within 45 degrees of each other
// return here to let them settle themselfs, as the target position will be correct
// ie the ground refrence is moving faster than the drones can maintain
Console.WriteLine("1 drone, to close");
drone1.SendPositionVelocity(drone1.Location, Vector3.Zero);
return;
}
}
// check if the are heading are at each other
if (((Math.Abs(drone1.Heading - drone2.Heading) + 360) % 360) > 135)
{
// check if the alt seperation is less than 1m
if (Math.Abs(drone1.Location.Alt - drone2.Location.Alt) < 1)
{
// stop the drones
drone1.SendPositionVelocity(new PointLatLngAlt(drone1.Location)
{
Alt = drone1.Location.Alt + Takeoff_Land_alt_sep
}, Vector3.Zero);
drone2.SendPositionVelocity(drone2.Location, Vector3.Zero);
Console.WriteLine("2 stopping drone, to close and heading towards each other");
return;
}
}
}
}
}
// convert wp path to 0.1m path increments
var path = Path.GeneratePath(AirMasterDrone.MavState);
if (path.Count == 0)
{
return;
}
// update the graph to show location along path
if (pathcount != path.Count)
{
path_to_fly.Clear();
double inc = 0;
path.ForEach(i =>
{
path_to_fly.Add(inc, i.Alt);
inc += 0.1;
});
}
pathcount = path.Count;
foreach (var drone in Drones)
{
var locs = GetLocations(path, drone.Location, 0, 0);
if (locs.Count == 0)
{
continue;
}
drone.PathIndex = path.IndexOf(locs[0]);
}
switch (CurrentMode)
{
case Mode.idle:
CurrentMode = Mode.takeoff;
// request positon at 5hz
foreach (var drone in Drones)
{
var MAV = drone.MavState;
MAV.parent.requestDatastream(MAVLink.MAV_DATA_STREAM.POSITION, 5, MAV.sysid, MAV.compid);
MAV.cs.rateposition = 5;
drone.takeoffdone = false;
if (drone != GroundMasterDrone)
{
try
{
// get param
MAV.parent.GetParam(MAV.sysid, MAV.compid, "RTL_ALT");
// set param
MAV.parent.setParam(MAV.sysid, MAV.compid, "RTL_ALT", 0); // cms - rtl at current alt
}
catch
{
}
try
{
// get param
MAV.parent.GetParam(MAV.sysid, MAV.compid, "WPNAV_ACCEL");
// set param to default 100cm/s
MAV.parent.setParam(MAV.sysid, MAV.compid, "WPNAV_ACCEL", 100);
}
catch
{
}
}
}
break;
case Mode.takeoff:
// newposition index
int a = 0;
// calc new positions based on lead and seperation
var lead = Drones.Count * Seperation;
// get locations based on position of the airmaster with a negative lead
var newpositions = GetLocations(path, AirMasterDrone.MavState.cs.HomeLocation, lead, Seperation);
if (newpositions.Count == 0)
{
return;
}
// from here airmaster will be first, all other drones will be in order they will fly in (could sort based on sysid?)
foreach (var drone in newlist)
{
var MAV = drone.MavState;
try
{
// guided mode
if (!MAV.cs.mode.ToLower().Equals("guided"))
{
MAV.parent.setMode(MAV.sysid, MAV.compid, "GUIDED");
}
// arm
if (!MAV.cs.armed)
{
if (!MAV.parent.doARM(MAV.sysid, MAV.compid, true))
{
return;
}
}
}
catch (Exception ex)
{
log.Error(ex);
Loading.ShowLoading("Communication with one of the drones is failing\n" + ex.ToString());
return;
}
// set drone target position
drone.TargetLocation = newpositions[a];
// setup seperation (0=0,1=1,2=2,3=0)
drone.TargetLocation.Alt += Takeoff_Land_alt_sep * (a % 3);
float takeoffalt = (float)drone.TargetLocation.Alt;
try
{
// takeoff
if (MAV.cs.alt < (takeoffalt - 0.5) && !drone.takeoffdone)
{
if (MAV.parent.doCommand(MAV.sysid, MAV.compid, MAVLink.MAV_CMD.TAKEOFF, 0, 0, 0, 0, 0,
0, takeoffalt))
{
drone.takeoffdone = true;
}
}
}
catch (Exception ex)
{
log.Error(ex);
Loading.ShowLoading("Communication with one of the drones is failing\n" + ex.ToString());
return;
}
drone.MavState.GuidedMode.x = 0;
drone.MavState.GuidedMode.y = 0;
drone.MavState.GuidedMode.z = (float)drone.TargetLocation.Alt;
// wait for takeoff
if (MAV.cs.alt < (takeoffalt - 0.5))
{
System.Threading.Thread.Sleep(100);
// check we are still armed
if (!MAV.cs.armed)
{
return;
}
a++;
// move on to next drone
continue;
}
// we should only get here once takeoff alt has been archived by this drone.
// position control
drone.SendPositionVelocity(drone.TargetLocation, Vector3.Zero);
drone.MavState.GuidedMode.x = (float)drone.TargetLocation.Lat;
drone.MavState.GuidedMode.y = (float)drone.TargetLocation.Lng;
drone.MavState.GuidedMode.z = (float)drone.TargetLocation.Alt;
// check how far off target we are
if (drone.TargetLocation.GetDistance(drone.Location) > Seperation)
{
// only return if this is the third drone without seperation
if (a % 3 == 2)
{
//if we are off target, we have already sent the command to this drone,
//but skip the one behind it untill this one is within the seperation range
return;
}
}
a++;
}
// wait for all to get within seperation distance
foreach (var drone in newlist)
{
// check how far off target we are
if (drone.TargetLocation.GetDistance(drone.Location) > Seperation)
{
// position control
drone.SendPositionVelocity(drone.TargetLocation, Vector3.Zero);
//if we are off target, we have already sent the command to this drone,
//but skip the one behind it untill this one is within the seperation range
return;
}
}
CurrentMode = Mode.flytouser;
break;
case Mode.flytouser:
// get locations based on position of the airmaster
var newpositions2 = GetLocations(path, AirMasterDrone.Location, Seperation, Seperation);
if (newpositions2.Count == 0)
{
// check if we are within 5m of the end of our flightplan
if (path.Last().GetDistance(AirMasterDrone.Location) < Seperation)
{
CurrentMode = Mode.RTH;
}
return;
}
int b = 0;
foreach (var drone in newlist)
{
if (newpositions2.Count == b)
{
break;
}
// set drone target position
drone.TargetLocation = newpositions2[b];
if (AltInterleave)
{
drone.TargetLocation.Alt += Takeoff_Land_alt_sep * (b % 2);
}
// position control
drone.SendPositionVelocity(drone.TargetLocation, Vector3.Zero);
drone.MavState.GuidedMode.x = (float)drone.TargetLocation.Lat;
drone.MavState.GuidedMode.y = (float)drone.TargetLocation.Lng;
drone.MavState.GuidedMode.z = (float)drone.TargetLocation.Alt;
b++;
}
// this is the same as used in the next step, to prevent a jump
var newpositionsfollowuser = GetLocations(path, GroundMasterDrone.Location, Lead, Seperation);
// check how far off target we are
if (newpositionsfollowuser.Count > 0 && AirMasterDrone.Location.GetDistance(newpositionsfollowuser.First()) < Seperation)
{
// update speed as we are changing to a high dynamic mode
foreach (var drone in newlist)
{
if (drone == GroundMasterDrone)
{
continue;
}
var MAV = drone.MavState;
// update to faster speed
MAV.parent.setParam(MAV.sysid, MAV.compid, "WPNAV_ACCEL", (float)WPNAV_ACCEL * 100.0f);
MAV.parent.setMode(MAV.sysid, MAV.compid, "GUIDED");
}
//if we are off target, we have already sent the command to this drone,
//but skip the one behind it untill this one is within the seperation range
CurrentMode = Mode.followuser;
return;
}
break;
case Mode.followuser:
// calc new positions based on lead and seperation
List <PointLatLngAlt> newpositions3 = new List <PointLatLngAlt>();
if (V)
{
newpositions3 = GetLocationsV(path, GroundMasterDrone.Location, Lead, Seperation);
}
else
{
newpositions3 = GetLocations(path, GroundMasterDrone.Location, Lead, Seperation);
}
if (newpositions3.Count == 0)
{
return;
}
// check if the user is offpath
var wps = new List <PointLatLngAlt>();
AirMasterDrone.MavState.wps.Values.ForEach(i => { wps.Add(new PointLatLngAlt((Locationwp)i)); });
if (GetOffPathDistance(wps, GroundMasterDrone.Location) > OffPathTrigger)
{
CurrentMode = Mode.RTH;
}
int c = 0;
// send position and velocity
foreach (var drone in newlist)
{
if (drone.MavState == groundmaster)
{
continue;
}
if (c > (newpositions3.Count - 1))
{
break;
}
drone.TargetLocation = newpositions3[c];
if (AltInterleave)
{
drone.TargetLocation.Alt += Takeoff_Land_alt_sep * (c % 2);
}
// spline control
drone.SendPositionVelocity(drone.TargetLocation, drone.TargetVelocity / 3);
drone.MavState.GuidedMode.x = (float)drone.TargetLocation.Lat;
drone.MavState.GuidedMode.y = (float)drone.TargetLocation.Lng;
drone.MavState.GuidedMode.z = (float)drone.TargetLocation.Alt;
// vel only
//drone.SendVelocity(drone.TargetVelocity);
// check how far off target we are
if (drone.TargetLocation.GetDistance(drone.Location) > Seperation * 2)
{
//if we are off target, we have already sent the command to this drone,
//but skip the one behind it untill this one is within the seperation range
//break;
}
c++;
}
break;
case Mode.RTH:
// get locations based on position of the airmaster
var newpositions4 = GetLocations(path, AirMasterDrone.Location, Seperation, Seperation);
if (newpositions4.Count == 0)
{
if (AirMasterDrone.Location.GetDistance(path.Last()) < Seperation)
{
CurrentMode = Mode.LandAlt;
}
return;
}
int d = 0;
foreach (var drone in newlist)
{
if (d > (newpositions4.Count - 1))
{
break;
}
try
{
var MAV = drone.MavState;
// set param to default 100cm/s
if (MAV.param["WPNAV_ACCEL"].Value != 100)
{
MAV.parent.setParam(MAV.sysid, MAV.compid, "WPNAV_ACCEL", 100);
}
}
catch
{
}
// set drone target position
drone.TargetLocation = newpositions4[d];
// used in next step
double prevalt = drone.TargetLocation.Alt;
if (AltInterleave)
{
drone.TargetLocation.Alt += Takeoff_Land_alt_sep * (d % 2);
}
// position control
drone.SendPositionVelocity(drone.TargetLocation, Vector3.Zero);
drone.MavState.GuidedMode.x = (float)drone.TargetLocation.Lat;
drone.MavState.GuidedMode.y = (float)drone.TargetLocation.Lng;
drone.MavState.GuidedMode.z = (float)drone.TargetLocation.Alt;
// used for next step
drone.TargetLocation.Alt = prevalt;
d++;
}
break;
case Mode.LandAlt:
int e = 0;
foreach (var drone in newlist)
{
drone.TargetLocation.Alt += Takeoff_Land_alt_sep * e;
try
{
var MAV = drone.MavState;
// set param to default 100cm/s
if (MAV.param["WPNAV_ACCEL"].Value != 100)
{
MAV.parent.setParam(MAV.sysid, MAV.compid, "WPNAV_ACCEL", 100);
}
}
catch
{
}
// position control
drone.SendPositionVelocity(drone.TargetLocation, Vector3.Zero);
drone.MavState.GuidedMode.z = (float)drone.TargetLocation.Alt;
System.Threading.Thread.Sleep(200);
drone.SendPositionVelocity(drone.TargetLocation, Vector3.Zero);
e++;
}
// check status
foreach (var drone in newlist)
{
// wait for alt hit
while (drone.MavState.cs.alt < (drone.TargetLocation.Alt - 0.5))
{
if (!drone.MavState.cs.armed)
{
break;
}
System.Threading.Thread.Sleep(200);
drone.SendPositionVelocity(drone.TargetLocation, Vector3.Zero);
}
System.Threading.Thread.Sleep(200);
log.Info(drone.MavState.sysid + " " + drone.MavState.cs.alt + " at alt " + drone.TargetLocation.Alt);
// set mode rtl
drone.MavState.parent.setMode(drone.MavState.sysid, drone.MavState.compid, "RTL");
}
CurrentMode = Mode.Land;
break;
case Mode.Land:
Drone closest = new Drone()
{
Location = PointLatLngAlt.Zero
};
var lastpnt = path.Last();
foreach (var drone in newlist)
{
if (!drone.MavState.cs.armed)
{
continue;
}
// low flying filter, move onto next drone
if (drone.MavState.cs.alt < lastpnt.Alt - 1)
{
continue;
}
if (AirMasterDrone.MavState.cs.HomeLocation.GetDistance(drone.Location) < AirMasterDrone.MavState.cs.HomeLocation.GetDistance(closest.Location))
{
closest = drone;
}
}
if (closest.MavState != null && !closest.MavState.cs.mode.ToLower().Equals("rtl"))
{
closest.MavState.parent.setMode(closest.MavState.sysid, closest.MavState.compid, "RTL");
}
break;
}
}
private void Awake()
{
Singleton = this;
}
private async void view_Loaded()
{
this.Dispatcher.Invoke(new Action(() => view.BestFitColumns()));
ServicesVM.SetStartValue();
await Loading.Hide();
}
private void Start()
{
loading = LoadingObject.GetComponent <Loading>();
}
protected internal async void ScheduleLoad()
{
await Loading.Show();
await ViewLoad(new Func <UserControl>(() => new Views.Schedule.Schedule()), new Views.Global.StockVerticalMenuItem());
}
protected virtual void OnLoading()
{
Loading?.Invoke(this, null);
ApplyCompiledBindings();
}
public static void Execute(string host, Handler h, bool makelive)
{
bool truncated = false, numtext = false, dateoob = false;
object[,] cids = new object[Useful.EXCEL_MAX_ROWS, 1];
DateTime timestamp;
Stream input;
int max;
#region External API Calls
if (!new Api.GetNumRecords(host, h).ExecuteLoggedIn(out max) ||
!new Api.GetTimestamp(host, h.dataSourceId).ExecuteLoggedIn(out timestamp))
{
Useful.Error(Resources.UnableToGetRemoteDataAmbiguous, Resources.Error);
return;
}
try
{
new Api.Handler(host, h, maxrows: max).ExecuteLoggedIn(out input);
}
catch
{
Useful.Error(Resources.UnableToContinue, Resources.Error);
return;
}
#endregion
#region Null/Empty Workbook/Worksheet Checks
if (Useful.ActiveWorkbook is null)
{
// Adding a workbook implies adding a worksheet
Useful.Workbooks.Add();
}
else if (!Useful.ActiveSheet.UsedRange.IsEmpty())
{
// Adding a worksheet gives that worksheet focus
Useful.Worksheets.Add();
}
#endregion
void FinalizeWorksheet(bool addANewWorksheet = true)
{
// This method cleans out the system columns we pulled down and sets up
// information for live worksheet functionality if desired. Optionally
// creates a new worksheet (Used in the rest of the import process).
cids = Useful.ActiveSheet.CleanSystemColumns();
if (makelive)
{
string cid_ws_name = Convert.ToBase64String(Guid.NewGuid().ToByteArray());
Useful.ActiveSheet.MarkSynchronized(h, host, timestamp, cid_ws_name);
Useful.Worksheets.Add();
Useful.ActiveSheet.Cell(1, 1).Resize[cids.GetLength(0), cids.GetLength(1)].Value2 = cids;
Useful.ActiveSheet.Name = cid_ws_name;
Useful.ActiveSheet.Visible = XlSheetVisibility.xlSheetVeryHidden;
}
if (addANewWorksheet)
{
Useful.Worksheets.Add();
}
}
Underway = true;
using (Loading progress = new Loading(max))
using (TextFieldParser parser = new TextFieldParser(input))
using (new ExcelNoScreenUpdate())
{
parser.TextFieldType = FieldType.Delimited;
parser.SetDelimiters(",");
progress.Show(new ParentHwnd(Useful.Hwnd));
string[] headers = parser.ReadFields();
if (headers.Length > Useful.EXCEL_MAX_COLS)
{
throw new InternalBufferOverflowException(string.Format(Resources.ErrTooManyColumns, Useful.EXCEL_MAX_COLS));
}
while (parser.HasMoreData())
{
if (!Underway)
{
return;
}
object[,] objs = new object[Useful.EXCEL_MAX_ROWS / DIVISION_FACTOR, headers.Length];
for (int i = 0; i < headers.Length; i++)
{
objs[0, i] = headers[i];
}
int row;
for (row = 1; parser.HasMoreData() && row < Useful.EXCEL_MAX_ROWS; row++, progress.Value++)
{
if (!Underway)
{
return;
}
string[] data = parser.ReadFields();
if (row % (Useful.EXCEL_MAX_ROWS / (DIVISION_FACTOR * 4)) == 0)
{
System.Windows.Forms.Application.DoEvents();
}
if (row % (Useful.EXCEL_MAX_ROWS / DIVISION_FACTOR) == 0)
{
Useful.ActiveSheet.Cell(1 + row - (Useful.EXCEL_MAX_ROWS / DIVISION_FACTOR), 1).Resize[objs.GetUpperBound(0) + 1, objs.GetUpperBound(1) + 1].Value2 = objs;
}
for (int col = 0; col < data.Length; col++) // [string -> *] type conversion
{
if (!Underway)
{
return;
}
object InterpretType(string tgt)
{
if (long.TryParse(tgt, out long _long) && headers[col] != "_version_")
{
if (_long > Useful.EXCEL_MAX_INT_AS_DOUBLE)
{
numtext = true;
tgt = '\'' + tgt;
if (tgt.Length > Useful.EXCEL_MAX_STR_LEN)
{
truncated = true;
}
return(tgt);
}
return(_long);
}
else if (double.TryParse(tgt, out double _double))
{
return(_double);
}
else
{
if (tgt.StartsWith("="))
{
tgt = '\'' + tgt;
}
if (tgt.Length > Useful.EXCEL_MAX_STR_LEN)
{
truncated = true;
}
return(tgt);
}
}
objs[row % (Useful.EXCEL_MAX_ROWS / DIVISION_FACTOR), col] = InterpretType(data[col]);
}
}
Useful.ActiveSheet.Cell(row < (Useful.EXCEL_MAX_ROWS / DIVISION_FACTOR) ? 1 : 1 + row - (Useful.EXCEL_MAX_ROWS / DIVISION_FACTOR), 1).Resize[objs.GetUpperBound(0) + 1, objs.GetUpperBound(1) + 1].Value2 = objs;
FinalizeWorksheet(parser.HasMoreData());
}
}
Underway = false;
if (truncated)
{
Useful.Error(Resources.TruncationWarning, Resources.TruncationWarningCaption, MessageBoxIcon.Information);
}
if (numtext)
{
Useful.Error(Resources.NumTextWarning, Resources.NumTextWarningCaption, MessageBoxIcon.Information);
}
if (dateoob)
{
Useful.Error(Resources.DateOOBWarning, Resources.DateOOBWarningCaption, MessageBoxIcon.Information);
}
}
private void btnLogin_Click(object sender, EventArgs e)
{
string username = textBox1.Text.ToString();
string password = textBox2.Text.ToString();
if (username == "" || username == "Username")
{
MessageBox.Show("Username Harus Diisi.", "Warning", MessageBoxButtons.OK, MessageBoxIcon.Warning);
return;
}
if (password == "" || password == "Password")
{
MessageBox.Show("Password Harus Diisi.", "Warning", MessageBoxButtons.OK, MessageBoxIcon.Warning);
return;
}
if (string.IsNullOrEmpty(this.setting.IPAddressServer))
{
MessageBox.Show("Invalid IP Address Server.", "Warning", MessageBoxButtons.OK, MessageBoxIcon.Warning);
return;
}
if (string.IsNullOrEmpty(this.setting.IPAddressLiveCamera))
{
MessageBox.Show("Invalid IP Address Live Camera.", "Warning", MessageBoxButtons.OK, MessageBoxIcon.Warning);
return;
}
// validate TID & Settlement MID for further transaction
if (string.IsNullOrEmpty(this.tmid.TID))
{
MessageBox.Show("Invalid 'TID' value.", "Warning", MessageBoxButtons.OK, MessageBoxIcon.Warning);
return;
}
if (string.IsNullOrEmpty(this.tmid.MID))
{
MessageBox.Show("Invalid 'Settlement MID' value.", "Warning", MessageBoxButtons.OK, MessageBoxIcon.Warning);
return;
}
using (Loading loading = new Loading(SignIn))
{
loading.ShowDialog(this);
// check local database connection
DBConnect database = new DBConnect();
if (!database.CheckMySQLConnection())
{
MessageBox.Show("Error : Can't Establish Connection to Local Database.\nPlease setup properly.", "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
return;
}
// check reader connection
BNI bni = new BNI();
if (!bni.CheckReaderConn())
{
MessageBox.Show("Error : Contactless Reader not available.\nPlease plug it and then try again.", "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
return;
}
// remember me feature
if (checkBox1.Checked)
{
Properties.Settings.Default.Username = username;
Properties.Settings.Default.Password = password;
Properties.Settings.Default.RememberMe = "yes";
}
else
{
Properties.Settings.Default.Username = username;
Properties.Settings.Default.Password = "";
Properties.Settings.Default.RememberMe = "no";
}
Properties.Settings.Default.Save();
string ip_address_server = "http://" + this.setting.IPAddressServer;
// pull some data from server e.g. Vehicle Types
string APIPullData = Properties.Resources.RequestVehicleTypeAPIURL;
RESTAPI pull = new RESTAPI();
DataResponse receivedData = pull.API_Get(ip_address_server, APIPullData);
if (receivedData != null)
{
switch (receivedData.Status)
{
case 206:
JArray receivedVehicleTypes = receivedData.Data;
JObject vehicleTypes = new JObject();
vehicleTypes.Add(new JProperty("VehicleTypes", receivedVehicleTypes));
// write into a file called 'master-data.json'
try
{
string savedDir = tk.GetApplicationExecutableDirectoryName() + "\\src\\master-data.json";
string json = JsonConvert.SerializeObject(vehicleTypes);
System.IO.File.WriteAllText(@savedDir, json);
//MessageBox.Show("Pull Master Data is Success.", "Success", MessageBoxButtons.OK, MessageBoxIcon.Information);
}
catch (Exception ex)
{
Console.WriteLine(ex.Message);
MessageBox.Show(ex.Message, "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
}
break;
default:
MessageBox.Show(receivedData.Message, "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
break;
}
}
else
{
MessageBox.Show("Error : Can't establish connection to server.", "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
}
// send data API
var APIUrl = Properties.Resources.LoginAPIURL;
JObject param = new JObject();
param["username"] = username;
param["password"] = password;
var sent_param = JsonConvert.SerializeObject(param);
RESTAPI api = new RESTAPI();
DataResponse response = api.API_Post(ip_address_server, APIUrl, sent_param);
if (response != null)
{
switch (response.Status)
{
case 201:
//MessageBox.Show(response.Message, "Success", MessageBoxButtons.OK, MessageBoxIcon.Information);
try
{
this.cashier = new Cashier(this);
this.cashier.Show();
Hide();
}
catch (Exception ex)
{
MessageBox.Show("Error : Can't Connect to Webcam.", "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
return;
}
break;
default:
MessageBox.Show(response.Message, "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
break;
}
}
else
{
MessageBox.Show("Error : Can't establish connection to server.", "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
}
}
}
/// <summary>
/// Shows the main window</summary>
public void ShowMainWindow()
{
Loading.Raise(this, EventArgs.Empty);
MainWindow.Show();
}
private void GDAL_OnProgress(double percent, string message)
{
Loading.ShowLoading((percent).ToString("0.0%") + " " + message, this);
}
public static string CheckLogFile(string FileName)
{
if (Program.WindowsStoreApp)
{
CustomMessageBox.Show(Strings.Not_available_when_used_as_a_windows_store_app);
return("");
}
var dir = Settings.GetDataDirectory() + "LogAnalyzer" +
Path.DirectorySeparatorChar;
var runner = dir + "runner.exe";
var zip = dir + "LogAnalyzer.zip";
if (!Directory.Exists(dir))
{
Directory.CreateDirectory(dir);
}
//if (!File.Exists(runner))
{
Loading.ShowLoading("Downloading LogAnalyzer");
bool gotit = false;
if (Environment.Is64BitOperatingSystem)
{
gotit = Download.getFilefromNet(
"http://firmware.ardupilot.org/Tools/MissionPlanner/LogAnalyzer/LogAnalyzer64.zip",
zip);
}
else
{
gotit = Download.getFilefromNet(
"http://firmware.ardupilot.org/Tools/MissionPlanner/LogAnalyzer/LogAnalyzer.zip",
zip);
}
// download zip
if (gotit)
{
Loading.ShowLoading("Extracting zip file");
// extract zip
FastZip fzip = new FastZip();
fzip.ExtractZip(zip, dir, "");
}
else
{
if (!File.Exists(runner))
{
CustomMessageBox.Show("Failed to download LogAnalyzer");
return("");
}
}
}
if (!File.Exists(runner))
{
CustomMessageBox.Show("Failed to download LogAnalyzer");
return("");
}
var sb = new StringBuilder();
Process P = new Process();
P.StartInfo.FileName = runner;
P.StartInfo.Arguments = @" -x """ + FileName + @".xml"" -s """ + FileName + @"""";
P.StartInfo.UseShellExecute = false;
P.StartInfo.WorkingDirectory = dir;
P.StartInfo.RedirectStandardOutput = true;
P.StartInfo.RedirectStandardError = true;
P.OutputDataReceived += (sender, args) => sb.AppendLine(args.Data);
P.ErrorDataReceived += (sender, args) => sb.AppendLine(args.Data);
try
{
Loading.ShowLoading("Running LogAnalyzer");
P.Start();
P.BeginOutputReadLine();
P.BeginErrorReadLine();
// until we are done
P.WaitForExit();
log.Info(sb.ToString());
}
catch
{
CustomMessageBox.Show("Failed to start LogAnalyzer");
}
Loading.Close();
return(FileName + ".xml");
}
void Start()
{
load = new Loading();
anim = GetComponent <Animator>();
clockfield.text = "09:00";
}
void Start()
{
Debug.Log("Menu OK");
PhotonNetwork.JoinOrCreateRoom("TestrAena", new RoomOptions(), TypedLobby.Default);
Loading.Load(LoadingScane.Game);
}
// Start is called before the first frame update
void Start()
{
loadCheck = GameObject.FindObjectOfType <Loading>();
}
/// <summary>
/// The loading options control the appearance of the loading screen that covers the plot area on chart operations.
/// This screen only appears after an explicit call to chart.showLoading(). It is a utility for developers to
/// communicate to the end user that something is going on, for example while retrieving new data via an XHR connection.
/// The "Loading..." text itself is not part of this configuration object, but part of the lang object.
/// </summary>
/// <param name="loading"></param>
/// <returns></returns>
public Highcharts SetLoading(Loading loading)
{
_Loading = loading;
return(this);
}
void OnConnectedToMaster()
{
Loading.Load(LoadingScene.Menu);
}
public static void HideLoading(this Dispatcher dp, Loading loading)
{
dp.BeginInvoke(DispatcherPriority.Normal, new Action(() => { HideLoading(loading); }));
}
// Runs the given Action on the background worker
private void runTaskWithLoadingScreen(string loadingMessage, string loadingTitle, Action work)
{
// Create variables used in loading (maz load value, background worker, and loading screen)
int maxLoadValue = mazeWidth * mazeHeight;
worker = new BackgroundWorker();
loading = new Loading();
// Set the background worker to run the given method
worker.DoWork += (sender, e) => work();
// Se the background worker to return the cursor and close the loading screen when it's done
worker.RunWorkerCompleted += (sender, e) =>
{
loading.Close();
Mouse.OverrideCursor = null;
};
// Set the background worker to increment the loading value and update time remaining on update
worker.ProgressChanged += (sender, e) =>
{
loading.LoadingValue+=e.ProgressPercentage/100.0;
if ((int)loading.LoadingValue % 200 == 0)
{
if ((int)loading.LoadingValue / 200 % 3 == 0)
loading.LoadingMessage = loadingMessage + "..";
else if ((int)loading.LoadingValue / 200 % 3 == 1)
loading.LoadingMessage = loadingMessage + "...";
else if ((int)loading.LoadingValue / 200 % 3 == 2)
loading.LoadingMessage = loadingMessage + ".";
}
};
worker.WorkerReportsProgress = true;
// Show the loading screen, change the cursour, and run the background worker
loading.Show(this, loadingMessage+"...", loadingTitle, maxLoadValue);
Mouse.OverrideCursor = Cursors.Wait;
worker.RunWorkerAsync();
}
private async void Start()
{
await SelectQuery();
await Loading.Hide();
}
/// <summary>
/// 菜单项“启动模块”（扫描）单击时的事件。
/// </summary>
/// <param name="sender">触发事件的控件对象。</param>
/// <param name="e">事件的参数。</param>
private void 启动扫描模块ToolStripMenuItem_Click(object sender, EventArgs e)
{
// 判断工作模式
if (启动扫描模块ToolStripMenuItem.Text == "启动模块")
{
if (!StartupModels(new[] { Scanner }))
{
MessageBox.Show("模块未能成功初始化，请检查。", "错误", MessageBoxButtons.OK, MessageBoxIcon.Error);
}
else if (Scanner.CurDevName != "")
{
MessageBox.Show("模块已成功设置。", "消息", MessageBoxButtons.OK, MessageBoxIcon.Information);
启动所有模块ToolStripMenuItem.Text = "重启所有模块";
启动扫描模块ToolStripMenuItem.Text = "停止模块";
扫描主机ToolStripMenuItem.Enabled = true;
侦测主机ToolStripMenuItem.Enabled = true;
}
}
else
{
// 创建载入界面
var task = new Thread(stop => {
Scanner.Reset();
Scanner.CurDevName = "";
})
{
Name = RegisteredThreadName.StopScanner.ToString()
};
MessagePipe.SendInMessage(new KeyValuePair <Message, Thread>(Message.TaskIn, task));
var loading = new Loading("正在停止，请稍候", task);
loading.ShowDialog();
// 等待结果
new WaitTimeoutChecker(30000).ThreadSleep(500, () => {
var msg = MessagePipe.GetNextOutMessage(task);
switch (msg)
{
case Message.NoAvailableMessage:
return(true);
case Message.TaskOut:
return(false);
default:
throw new Exception($"无效的消息类型：{msg}");
}
});
// 模块已停止
MessagePipe.ClearAllMessage(task);
MessageBox.Show("模块已停止。", "消息", MessageBoxButtons.OK, MessageBoxIcon.Information);
启动扫描模块ToolStripMenuItem.Text = "启动模块";
扫描主机ToolStripMenuItem.Enabled = false;
侦测主机ToolStripMenuItem.Enabled = false;
HostList.Rows.Clear();
// TODO:新增模块时请更新此处的代码
if (启动毒化模块ToolStripMenuItem.Text == "启动模块" &&
启动监视模块ToolStripMenuItem.Text == "启动模块")
{
启动所有模块ToolStripMenuItem.Text = "启动所有模块";
}
}
}
private async void EditingWorkForm_Load(object sender, EventArgs e)
{
await Loading?.Invoke();
LL_Work.Focus();
}
public void Save()
{
int result = 0;
decimal result2 = 0;
hotForm.myConfig.userid = MyUserInfo.currentUserId;
ConfigSendTimeModel cfgTime = string.IsNullOrEmpty(hotForm.myConfig.send_time_config) ? new ConfigSendTimeModel() : JsonConvert.DeserializeObject <ConfigSendTimeModel>(hotForm.myConfig.send_time_config);
cfgTime = cfgTime == null ? new ConfigSendTimeModel() : cfgTime;
//淘宝API
cfgTime.appkey = txtTaoAppKey.Text;
cfgTime.appsecret = txtTaoAppSecret.Text;
//发视频
cfgTime.enable_sendvideo = ckbSendVideo.Checked;
//通知邮箱
//cfgTime.notity_email = txtNotifyMobile.Text;
//商品间隔
int.TryParse(txtgoodsinterval.Text, out result);
cfgTime.goodsinterval = result < 0 ? 35 : result;
//操作间隔
decimal result3 = 0;
decimal.TryParse(txthandleInterval.Text, out result3);
cfgTime.hdInterval = result3 == 0 ? 1 : result3;
//任务间隔
int.TryParse(txtTaskInterval.Text, out result);
cfgTime.taskinterval = result == 0 ? 30 : result;
//图文顺序
cfgTime.imagetextsort = rbTwSort.Checked ? 0 : 1;
//发送模式
cfgTime.sendmode = rdSendWindows.Checked ? 0 : 1;
MyUserInfo.sendmode = cfgTime.sendmode;
//过滤条件
ConfigWhereModel cfgWhere = string.IsNullOrEmpty(hotForm.myConfig.where_config) ? new ConfigWhereModel() : JsonConvert.DeserializeObject <ConfigWhereModel>(hotForm.myConfig.where_config);
cfgWhere = cfgWhere == null ? new ConfigWhereModel() : cfgWhere;
//优惠券过期
cfgWhere.minCouponDateDayCountEnable = ckbminCouponDayCount.Checked ? 1 : 0;
int.TryParse(txtminCouponDateDayCount.Text, out result);
cfgWhere.minCouponDateDayCount = result;
//优惠券数量
cfgWhere.minCouponAmountEnable = ckbCoupon.Checked ? 1 : 0;
int.TryParse(txtminCouponAmount.Text, out result);
cfgWhere.minCouponAmount = result;
//月销量
cfgWhere.minMonthSalesAmountEnable = ckbMonthSales.Checked ? 1 : 0;
int.TryParse(txtminMonthSalesAmount.Text, out result);
cfgWhere.minMonthSalesAmount = result;
//佣金比率
cfgWhere.minCmsRateAmountEnable = ckbCmsRate.Checked ? 1 : 0;
decimal.TryParse(txtminCmsRateAmount.Text, out result2);
cfgWhere.minCmsRateAmount = result2;
//商品价格
cfgWhere.GoodsPriceEnable = ckbGoodsPrice.Checked ? 1 : 0;
decimal.TryParse(txtminGoodsPrice.Text, out result2);
cfgWhere.minGoodsPrice = result2;
decimal.TryParse(txtmaxGoodsPrice.Text, out result2);
cfgWhere.maxGoodsPrice = result2;
//过滤今日重复商品
cfgWhere.filterGoodsEnable = ckbfilterGoods.Checked ? 1 : 0;
ConfigModel myConfig = hotForm.myConfig;
myConfig.send_time_config = JsonConvert.SerializeObject(cfgTime);
myConfig.where_config = JsonConvert.SerializeObject(cfgWhere);
MessageAlert alert = new MessageAlert();
Loading ld = new Loading();
((Action)(delegate()
{
if (LogicUser.Instance.AddUserConfigModel(MyUserInfo.LoginToken, hotForm.myConfig) > 0)
{
alert.Message = "保存成功";
}
else
{
alert.Message = "保存失败，请重试";
}
ld.CloseForm();
this.BeginInvoke((Action)(delegate()
{
hotForm.myConfig = myConfig;
alert.ShowDialog(this);
}));
})).BeginInvoke(null, null);
ld.ShowDialog(this);
}
void OnMouseDown()
{
Loading.Load(levelName);
}
void processbg(string file)
{
a++;
Loading.ShowLoading(a+"/"+files.Count + " " + file, this);
if (!File.Exists(file + ".jpg"))
{
LogMap.MapLogs(new string[] {file});
}
var loginfo = new loginfo();
loginfo.fullname = file;
try
{
// file not found exception even though it passes the exists check above.
loginfo.Size = new FileInfo(file).Length;
}
catch
{
}
if (File.Exists(file + ".jpg"))
{
loginfo.imgfile = file + ".jpg";
}
if (file.ToLower().EndsWith(".tlog"))
{
using (MAVLinkInterface mine = new MAVLinkInterface())
{
try
{
mine.logplaybackfile =
new BinaryReader(File.Open(file, FileMode.Open, FileAccess.Read, FileShare.Read));
}
catch (Exception ex)
{
log.Debug(ex.ToString());
CustomMessageBox.Show("Log Can not be opened. Are you still connected?");
return;
}
mine.logreadmode = true;
mine.speechenabled = false;
// file is to small
if (mine.logplaybackfile.BaseStream.Length < 1024*4)
return;
mine.getHeartBeat();
loginfo.Date = mine.lastlogread;
loginfo.Aircraft = mine.sysidcurrent;
loginfo.Frame = mine.MAV.aptype.ToString();
var start = mine.lastlogread;
try
{
mine.logplaybackfile.BaseStream.Seek(0, SeekOrigin.Begin);
}
catch
{
}
var end = mine.lastlogread;
var length = mine.logplaybackfile.BaseStream.Length;
var a = 0;
// abandon last 100 bytes
while (mine.logplaybackfile.BaseStream.Position < (length-100))
{
var packet = mine.readPacket();
// gcs
if(packet.sysid == 255)
continue;
if (packet.msgid == (uint)MAVLink.MAVLINK_MSG_ID.CAMERA_FEEDBACK)
loginfo.CamMSG++;
if (a % 10 == 0)
mine.MAV.cs.UpdateCurrentSettings(null, true, mine);
a++;
if (mine.lastlogread > end)
end = mine.lastlogread;
}
loginfo.Home = mine.MAV.cs.Location;
loginfo.TimeInAir = mine.MAV.cs.timeInAir;
loginfo.DistTraveled = mine.MAV.cs.distTraveled;
loginfo.Duration = (end - start).ToString();
}
}
else if (file.ToLower().EndsWith(".bin") || file.ToLower().EndsWith(".log"))
{
using (CollectionBuffer colbuf = new CollectionBuffer(File.OpenRead(file)))
{
PointLatLngAlt lastpos = null;
DateTime start = DateTime.MinValue;
DateTime end = DateTime.MinValue;
DateTime tia = DateTime.MinValue;
// set time in air/home/distancetraveled
foreach (var dfItem in colbuf.GetEnumeratorType("GPS"))
{
if (dfItem["Status"] != null)
{
var status = int.Parse(dfItem["Status"]);
if (status >= 3)
{
var pos = new PointLatLngAlt(
double.Parse(dfItem["Lat"], CultureInfo.InvariantCulture),
double.Parse(dfItem["Lng"], CultureInfo.InvariantCulture),
double.Parse(dfItem["Alt"], CultureInfo.InvariantCulture));
if (lastpos == null)
lastpos = pos;
if (start == DateTime.MinValue)
{
loginfo.Date = dfItem.time;
start = dfItem.time;
}
end = dfItem.time;
// add distance
loginfo.DistTraveled += (float)lastpos.GetDistance(pos);
// set home
if (loginfo.Home == null)
loginfo.Home = pos;
if (dfItem.time > tia.AddSeconds(1))
{
// ground speed > 0.2 or alt > homelat+2
if (double.Parse(dfItem["Spd"], CultureInfo.InvariantCulture) > 0.2 ||
pos.Alt > (loginfo.Home.Alt + 2))
{
loginfo.TimeInAir++;
}
tia = dfItem.time;
}
}
}
}
loginfo.Duration = (end - start).ToString();
loginfo.CamMSG = colbuf.GetEnumeratorType("CAM").Count();
loginfo.Aircraft = 0;//colbuf.dflog.param[""];
loginfo.Frame = "Unknown";//mine.MAV.aptype.ToString();
}
}
logs.Add(loginfo);
}
protected virtual void OnLoading(EventArgs e)
{
Loading?.Invoke(this, e);
}
/// <summary>
/// 菜单项“侦测主机”单击时的事件。
/// </summary>
/// <param name="sender">触发事件的控件对象。</param>
/// <param name="e">事件的参数。</param>
private void 侦测主机ToolStripMenuItem_Click(object sender, EventArgs e)
{
// 清空历史纪录
HostList.Rows.Clear();
// 创建载入界面
var task = new Thread(spy => {
try {
Scanner.SpyForTarget();
}
catch (ThreadAbortException) { }
})
{
Name = RegisteredThreadName.SpyForTarget.ToString()
};
MessagePipe.SendInMessage(new KeyValuePair <Message, Thread>(Message.TaskIn, task));
var loading = new Loading("正在侦测，取消以停止", task);
loading.ShowDialog();
// 等待结果
new WaitTimeoutChecker(30000).ThreadSleep(500, () => MessagePipe.GetNextOutMessage(task) != Message.UserCancel);
// 用户取消
MessagePipe.SendInMessage(new KeyValuePair <Message, Thread>(Message.TaskCancel, task));
var result = Message.NoAvailableMessage;
new WaitTimeoutChecker(30000).ThreadSleep(500, () => (result = MessagePipe.GetNextOutMessage(task)) == Message.NoAvailableMessage);
MessagePipe.ClearAllMessage(task);
// 检查是否正确结束
if (result != Message.TaskAborted)
{
MessageBox.Show("线程异常结束。", "错误", MessageBoxButtons.OK, MessageBoxIcon.Error);
return;
}
// 输出侦测结果
foreach (var host in Scanner.HostList)
{
// 格式化MAC地址
var temp = new StringBuilder(host.PhysicalAddress.ToString());
if (temp.Length == 12)
{
temp = temp.Insert(2, '-').Insert(5, '-').Insert(8, '-').Insert(11, '-').Insert(14, '-');
}
if (Scanner.GatewayAddresses.Contains(host.IPAddress))
{
HostList.Rows.Add(host.IPAddress.ToString(), temp.ToString(), "网关地址");
Poisoner.Gateway = host;
}
else if (Equals(host.IPAddress, Scanner.Ipv4Address))
{
HostList.Rows.Add(host.IPAddress.ToString(), temp.ToString(), "当前设备地址");
}
else
{
HostList.Rows.Add(host.IPAddress.ToString(), temp.ToString(), "");
}
HostList.Rows[HostList.Rows.Count - 1].ContextMenuStrip = HostListMenuStrip;
}
}