// Constructor, Initializes a new instance of the "FormGPS" class.
public FormGPS()
{
//winform initialization
InitializeComponent();
//build the gesture structures
SetupStructSizes();
//create a new section and set left and right positions
//created whether used or not, saves restarting program
for (int j = 0; j < MAXSECTIONS; j++)
{
section[j] = new CSection(this);
}
// Get the OpenGL object.
OpenGL gl = openGLControl.OpenGL;
OpenGL glBack = openGLControlBack.OpenGL;
//create the world grid
worldGrid = new CWorldGrid(gl, this);
//our vehicle made with gl object and pointer of mainform
vehicle = new CVehicle(gl, this);
//our NMEA parser
pn = new CNMEA(this);
//create the ABLine instance
ABLine = new CABLine(gl, this);
//new instance of contour mode
ct = new CContour(gl, this);
//new instance of contour mode
curve = new CABCurve(gl, this);
//new instance of auto headland turn
yt = new CYouTurn(gl, glBack, this);
//module communication
mc = new CModuleComm(this);
//perimeter list object
periArea = new CPerimeter(gl);
//boundary object
bnd = new CBoundary(gl, glBack, this);
//boundaries array
for (int j = 0; j < MAXBOUNDARIES; j++)
{
bndArr[j] = new CBoundaryLines(gl, glBack, this);
}
//headland object
hl = new CHeadland(gl, this);
//headlands array
for (int j = 0; j < MAXHEADS; j++)
{
hlArr[j] = new CHeadlandLines(gl, this);
}
//rate object for dual flowmeters
rcd = new CDualRate(this);
//headland entry/exit sequences
seq = new CSequence(this);
//nmea simulator built in.
sim = new CSim(this);
//all the autosteer objects
ast = new CAutoSteer(this);
//all the attitude, heading, roll, pitch reference system
ahrs = new CAHRS(this);
//A recorded path
recPath = new CRecordedPath(gl, this);
//A generated Path
genPath = new CGenPath(gl, this);
//start the stopwatch
swFrame.Start();
//resource for gloabal language strings
_rm = new ResourceManager("AgOpenGPS.gStr", Assembly.GetExecutingAssembly());
}
public void LoadSettings()
{ //metric settings
CheckSettingsNotNull();
isMetric = Settings.Default.setMenu_isMetric;
tramLinesMenuField.Visible = Properties.Settings.Default.setFeatures.isTramOn;
headlandToolStripMenuItem.Visible = Properties.Settings.Default.setFeatures.isHeadlandOn;
boundariesToolStripMenuItem.Visible = Properties.Settings.Default.setFeatures.isBoundaryOn;
//toolStripBtnMakeBndContour.Visible = Properties.Settings.Default.setFeatures.isBndContourOn;
recordedPathStripMenu.Visible = Properties.Settings.Default.setFeatures.isRecPathOn;
SmoothABtoolStripMenu.Visible = Properties.Settings.Default.setFeatures.isABSmoothOn;
deleteContourPathsToolStripMenuItem.Visible = Properties.Settings.Default.setFeatures.isHideContourOn;
webcamToolStrip.Visible = Properties.Settings.Default.setFeatures.isWebCamOn;
offsetFixToolStrip.Visible = Properties.Settings.Default.setFeatures.isOffsetFixOn;
btnContour.Visible = Properties.Settings.Default.setFeatures.isContourOn;
btnAutoYouTurn.Visible = Properties.Settings.Default.setFeatures.isYouTurnOn;
btnStanleyPure.Visible = Properties.Settings.Default.setFeatures.isSteerModeOn;
btnStartAgIO.Visible = Properties.Settings.Default.setFeatures.isAgIOOn;
btnAutoSteer.Visible = Properties.Settings.Default.setFeatures.isAutoSteerOn;
btnCycleLines.Visible = Properties.Settings.Default.setFeatures.isCycleLinesOn;
btnManualOffOn.Visible = Properties.Settings.Default.setFeatures.isManualSectionOn;
btnSectionOffAutoOn.Visible = Properties.Settings.Default.setFeatures.isAutoSectionOn;
btnABLine.Visible = Properties.Settings.Default.setFeatures.isABLineOn;
btnCurve.Visible = Properties.Settings.Default.setFeatures.isCurveOn;
isUTurnOn = Properties.Settings.Default.setFeatures.isUTurnOn;
isLateralOn = Properties.Settings.Default.setFeatures.isLateralOn;
if (isMetric)
{
inchOrCm2m = 0.01;
m2InchOrCm = 100.0;
m2FtOrM = 1.0;
ftOrMtoM = 1.0;
inOrCm2Cm = 1.0;
cm2CmOrIn = 1.0;
unitsFtM = " m";
unitsInCm = " cm";
}
else
{
inchOrCm2m = glm.in2m;
m2InchOrCm = glm.m2in;
m2FtOrM = glm.m2ft;
ftOrMtoM = glm.ft2m;
inOrCm2Cm = 2.54;
cm2CmOrIn = 0.3937;
unitsInCm = " in";
unitsFtM = " ft";
}
//timeToShowMenus = Properties.Settings.Default.setDisplay_showMenusTime;
udpWatchLimit = Properties.Settings.Default.SetGPS_udpWatchMsec;
startSpeed = Vehicle.Default.setVehicle_startSpeed;
frameDayColor = Properties.Settings.Default.setDisplay_colorDayFrame.CheckColorFor255();
frameNightColor = Properties.Settings.Default.setDisplay_colorNightFrame.CheckColorFor255();
sectionColorDay = Properties.Settings.Default.setDisplay_colorSectionsDay.CheckColorFor255();
fieldColorDay = Properties.Settings.Default.setDisplay_colorFieldDay.CheckColorFor255();
fieldColorNight = Properties.Settings.Default.setDisplay_colorFieldNight.CheckColorFor255();
Properties.Settings.Default.setDisplay_colorDayFrame = frameDayColor;
Properties.Settings.Default.setDisplay_colorNightFrame = frameNightColor;
Properties.Settings.Default.setDisplay_colorSectionsDay = sectionColorDay;
Properties.Settings.Default.setDisplay_colorFieldDay = fieldColorDay;
Properties.Settings.Default.setDisplay_colorFieldNight = fieldColorNight;
Properties.Settings.Default.Save();
isSkyOn = Settings.Default.setMenu_isSkyOn;
isTextureOn = Settings.Default.setDisplay_isTextureOn;
isGridOn = Settings.Default.setMenu_isGridOn;
isCompassOn = Settings.Default.setMenu_isCompassOn;
isSpeedoOn = Settings.Default.setMenu_isSpeedoOn;
isAutoDayNight = Settings.Default.setDisplay_isAutoDayNight;
isSideGuideLines = Settings.Default.setMenu_isSideGuideLines;
//isLogNMEA = Settings.Default.setMenu_isLogNMEA;
isPureDisplayOn = Settings.Default.setMenu_isPureOn;
panelNavigation.Location = new System.Drawing.Point(90, 100);
panelDrag.Location = new System.Drawing.Point(87, 268);
vehicleOpacity = ((double)(Properties.Settings.Default.setDisplay_vehicleOpacity) * 0.01);
vehicleOpacityByte = (byte)(255 * ((double)(Properties.Settings.Default.setDisplay_vehicleOpacity) * 0.01));
isVehicleImage = Properties.Settings.Default.setDisplay_isVehicleImage;
string directoryName = Path.GetDirectoryName(System.Reflection.Assembly.GetEntryAssembly().Location);
//grab the current vehicle filename - make sure it exists
vehicleFileName = Vehicle.Default.setVehicle_vehicleName;
simulatorOnToolStripMenuItem.Checked = Settings.Default.setMenu_isSimulatorOn;
if (simulatorOnToolStripMenuItem.Checked)
{
panelSim.Visible = true;
timerSim.Enabled = true;
}
else
{
panelSim.Visible = false;
timerSim.Enabled = false;
}
if (timerSim.Enabled) fixUpdateHz = 10;
fixUpdateTime = 1 / (double)fixUpdateHz;
//set the flag mark button to red dot
btnFlag.Image = Properties.Resources.FlagRed;
//load the string of custom colors
string[] words = Properties.Settings.Default.setDisplay_customColors.Split(',');
for (int i = 0; i < 16; i++)
{
Color test;
customColorsList[i] = int.Parse(words[i], CultureInfo.InvariantCulture);
test = Color.FromArgb(customColorsList[i]).CheckColorFor255();
int iCol = (test.A << 24) | (test.R << 16) | (test.G << 8) | test.B;
customColorsList[i] = iCol;
}
Properties.Settings.Default.setDisplay_customColors = "";
for (int i = 0; i < 15; i++)
Properties.Settings.Default.setDisplay_customColors += customColorsList[i].ToString() + ",";
Properties.Settings.Default.setDisplay_customColors += customColorsList[15].ToString();
Properties.Settings.Default.Save();
//load up colors
fieldColorDay = (Settings.Default.setDisplay_colorFieldDay.CheckColorFor255());
sectionColorDay = (Settings.Default.setDisplay_colorSectionsDay.CheckColorFor255());
fieldColorNight = (Settings.Default.setDisplay_colorFieldNight.CheckColorFor255());
textColorDay = Settings.Default.setDisplay_colorTextDay.CheckColorFor255();
textColorNight = Settings.Default.setDisplay_colorTextNight.CheckColorFor255();
vehicleColor = Settings.Default.setDisplay_colorVehicle.CheckColorFor255();
isLightbarOn = Settings.Default.setMenu_isLightbarOn;
//set up grid and lightbar
isKeyboardOn = Settings.Default.setDisplay_isKeyboardOn;
if (Properties.Settings.Default.setAS_isAutoSteerAutoOn) btnAutoSteer.Text = "R";
else btnAutoSteer.Text = "M";
if (bnd.isHeadlandOn) btnHeadlandOnOff.Image = Properties.Resources.HeadlandOn;
else btnHeadlandOnOff.Image = Properties.Resources.HeadlandOff;
btnChangeMappingColor.BackColor = sectionColorDay;
btnChangeMappingColor.Text = Application.ProductVersion.ToString(CultureInfo.InvariantCulture);
if (Properties.Settings.Default.setDisplay_isStartFullScreen)
{
this.WindowState = FormWindowState.Maximized;
isFullScreen = true;
}
else
{
isFullScreen = false;
}
//is rtk on?
isRTK = Properties.Settings.Default.setGPS_isRTK;
isRTK_KillAutosteer = Properties.Settings.Default.setGPS_isRTK_KillAutoSteer;
pn.ageAlarm = Properties.Settings.Default.setGPS_ageAlarm;
isAngVelGuidance = Properties.Settings.Default.setAS_isAngVelGuidance;
guidanceLookAheadTime = Properties.Settings.Default.setAS_guidanceLookAheadTime;
gyd.sideHillCompFactor = Properties.Settings.Default.setAS_sideHillComp;
//ahrs.isReverseOn = Properties.Settings.Default.setIMU_isReverseOn;
//ahrs.reverseComp = Properties.Settings.Default.setGPS_reverseComp;
//ahrs.forwardComp = Properties.Settings.Default.setGPS_forwardComp;
ahrs = new CAHRS();
fd.UpdateFieldBoundaryGUIAreas();
//Set width of section and positions for each section
SectionSetPosition();
//Calculate total width and each section width
SectionCalcWidths();
LineUpManualBtns();
//fast or slow section update
isFastSections = Properties.Vehicle.Default.setSection_isFast;
yt.rowSkipsWidth = Properties.Vehicle.Default.set_youSkipWidth;
cboxpRowWidth.SelectedIndex = yt.rowSkipsWidth - 1;
yt.Set_Alternate_skips();
DisableYouTurnButtons();
//which heading source is being used
headingFromSource = Settings.Default.setGPS_headingFromWhichSource;
//workswitch stuff
mc.isWorkSwitchEnabled = Settings.Default.setF_IsWorkSwitchEnabled;
mc.isWorkSwitchActiveLow = Settings.Default.setF_IsWorkSwitchActiveLow;
mc.isWorkSwitchManual = Settings.Default.setF_IsWorkSwitchManual;
mc.isSteerControlsManual = Settings.Default.setF_steerControlsManual;
minFixStepDist = Settings.Default.setF_minFixStep;
fd.workedAreaTotalUser = Settings.Default.setF_UserTotalArea;
yt.uTurnSmoothing = Settings.Default.setAS_uTurnSmoothing;
tool.halfToolWidth = (tool.toolWidth - tool.toolOverlap) / 2.0;
//load the lightbar resolution
lightbarCmPerPixel = Properties.Settings.Default.setDisplay_lightbarCmPerPixel;
//Stanley guidance
isStanleyUsed = Properties.Vehicle.Default.setVehicle_isStanleyUsed;
if (isStanleyUsed)
{
btnStanleyPure.Image = Resources.ModeStanley;
}
else
{
btnStanleyPure.Image = Resources.ModePurePursuit;
}
//main window first
if (Settings.Default.setWindow_Maximized)
{
WindowState = FormWindowState.Normal;
Location = Settings.Default.setWindow_Location;
Size = Settings.Default.setWindow_Size;
}
else if (Settings.Default.setWindow_Minimized)
{
//WindowState = FormWindowState.Minimized;
Location = Settings.Default.setWindow_Location;
Size = Settings.Default.setWindow_Size;
}
else
{
Location = Settings.Default.setWindow_Location;
Size = Settings.Default.setWindow_Size;
}
isTramOnBackBuffer = Properties.Settings.Default.setTram_isTramOnBackBuffer;
//night mode
isDay = Properties.Settings.Default.setDisplay_isDayMode;
isDay = !isDay;
SwapDayNightMode();
if (!Properties.Settings.Default.setDisplay_isTermsAccepted)
{
using (var form = new Form_First())
{
if (form.ShowDialog(this) != DialogResult.OK)
{
Close();
}
}
}
FixPanelsAndMenus(false);
camera.camSetDistance = camera.zoomValue * camera.zoomValue * -1;
SetZoom();
}
