コード例 #1
0
ファイル: XmlManager.cs プロジェクト: lzrslam/Ground-station
        //	ControlMode 返回对应字符串 控制方式
        private ModeManager GetControlModeStr(int mode)
        {
            ModeManager _controlMode = new ModeManager();

            if (ControlModeList.Count <= mode)
            {
                _controlMode.ModeNo   = -1;
                _controlMode.ModeName = "未定义";
                _controlMode.Reset    = false;
                return(_controlMode);
            }

            _controlMode = ControlModeList.Find(
                delegate(ModeManager _modeManager) { return(_modeManager.ModeNo == mode); });

            return(_controlMode);
        }
コード例 #2
0
ファイル: XmlManager.cs プロジェクト: lzrslam/Ground-station
        // XML/Setting.xml浏览
        private void InitModeName()
        {
            System.Diagnostics.Debug.WriteLine("");
            ControlModeList = new List <ModeManager>();         // 初始化
            FlightModeList  = new List <string>();              // 初始化

            // 读取XML文件的XML数据
            XDocument xml = XDocument.Load(System.Environment.GetFolderPath(Environment.SpecialFolder.LocalApplicationData) + @"\ACSL\X-Monitor\Setting\GUI\Settings.xml");

            // 按Ctrl方式阅读
            var elements = xml.Root.XPathSelectElements("Settings/UAV/Sys/Mode/Ctrl");

            foreach (var element in elements)
            {
                ModeManager _controlMode = new ModeManager();

                // 阅读属性
                if (element.Attribute("i") != null)
                {
                    int    i;
                    string _attVal = element.Attribute("i").Value;
                    if (int.TryParse(_attVal, out i))
                    {
                        _controlMode.ModeNo   = int.Parse(_attVal); // 模式号
                        _controlMode.ModeName = element.Value;      // 模式名

                        System.Diagnostics.Debug.WriteLine("ControlModeList :(" + _attVal + ")" + element.Value);
                    }
                    else
                    {
                        _controlMode.ModeNo   = -1;     // 模式号
                        _controlMode.ModeName = "未定义";  // 模式名
                    }
                }
                else
                {
                    _controlMode.ModeNo   = -1;     // 控制名
                    _controlMode.ModeName = "未定义";  // 控制名
                }

                // 重置属性加载
                if (element.Attribute("reset") != null)
                {
                    string _attVal = element.Attribute("reset").Value;
                    if (_attVal == "Y")
                    {
                        _controlMode.Reset = true;  // 目标值复位 (true)
                        System.Diagnostics.Debug.WriteLine("reset-:" + _attVal);
                    }
                    else
                    {
                        _controlMode.Reset = false;  // 目标值复位 (true)
                        System.Diagnostics.Debug.WriteLine("reset-:" + _attVal);
                    }
                }
                else
                {
                    _controlMode.Reset = false;  // 目标值复位 (true)
                    System.Diagnostics.Debug.WriteLine("reset-:" + "没有");
                }

                ControlModeList.Add(_controlMode);
            }

            // 自动模式下阅读
            elements = xml.Root.XPathSelectElements("Settings/UAV/Sys/Mode/Auto");
            for (int i = 0; i < elements.Count(); i++)
            {
                foreach (var element in elements)
                {
                    // i属性的阅读
                    string _attVal = element.Attribute("i").Value;
                    if (_attVal == i.ToString())
                    {
                        System.Diagnostics.Debug.WriteLine("FlightModeList :(" + i.ToString() + ")" + element.Value);
                        FlightModeList.Add(element.Value);
                    }
                }
            }
        }
コード例 #3
0
        // XML/Setting.xml読み込み
        private void InitModeName()
        {
            System.Diagnostics.Debug.WriteLine("");
            ControlModeList = new List <ModeManager>();          // 初期化
            FlightModeList  = new List <string>();               // 初期化

            // XMLファイルからxmlデータに読み込む
            XDocument xml = XDocument.Load(System.Environment.GetFolderPath(Environment.SpecialFolder.LocalApplicationData) + @"\ACSL\X-Monitor\Setting\GUI\Settings.xml");

            // Ctrlモード読み込み
            var elements = xml.Root.XPathSelectElements("Settings/UAV/Sys/Mode/Ctrl");

            foreach (var element in elements)
            {
                ModeManager _controlMode = new ModeManager();

                // i属性の読み込み
                if (element.Attribute("i") != null)
                {
                    int    i;
                    string _attVal = element.Attribute("i").Value;
                    if (int.TryParse(_attVal, out i))
                    {
                        _controlMode.ModeNo   = int.Parse(_attVal); // モードNo
                        _controlMode.ModeName = element.Value;      // モード名

                        System.Diagnostics.Debug.WriteLine("ControlModeList :(" + _attVal + ")" + element.Value);
                    }
                    else
                    {
                        _controlMode.ModeNo   = -1;     // モードNo
                        _controlMode.ModeName = "未定義";  // モード名
                    }
                }
                else
                {
                    _controlMode.ModeNo   = -1;     // モードNo
                    _controlMode.ModeName = "未定義";  // モード名
                }

                // reset属性の読み込み
                if (element.Attribute("reset") != null)
                {
                    string _attVal = element.Attribute("reset").Value;
                    if (_attVal == "Y")
                    {
                        _controlMode.Reset = true;  // 目標値リセット(true)
                        System.Diagnostics.Debug.WriteLine("reset-:" + _attVal);
                    }
                    else
                    {
                        _controlMode.Reset = false;  // 目標値リセット(true)
                        System.Diagnostics.Debug.WriteLine("reset-:" + _attVal);
                    }
                }
                else
                {
                    _controlMode.Reset = false;  // 目標値リセット(false)
                    System.Diagnostics.Debug.WriteLine("reset-:" + "なし");
                }

                ControlModeList.Add(_controlMode);
            }

            // Autoモード読み込み
            elements = xml.Root.XPathSelectElements("Settings/UAV/Sys/Mode/Auto");
            for (int i = 0; i < elements.Count(); i++)
            {
                foreach (var element in elements)
                {
                    // i属性の読み込み
                    string _attVal = element.Attribute("i").Value;
                    if (_attVal == i.ToString())
                    {
                        System.Diagnostics.Debug.WriteLine("FlightModeList :(" + i.ToString() + ")" + element.Value);
                        FlightModeList.Add(element.Value);
                    }
                }
            }
        }
コード例 #4
0
ファイル: XmlManager.cs プロジェクト: lzrslam/Ground-station
        /////////////////////////////////////////////////////////////////////////////////////////
        //如果读消息中获取的UAV数据采集列表有变化,添加在这里。意思是在这里添加每个数据到相应的变量
        public int XmlConvert(int _getMode = 0)
        {
            try
            {
                if (dataUAV == "")
                {
                    return(-1);
                }

                int cnt = 0;
                //int row = dataUAV.ToList().Where(c => c.Equals('\n')).Count();
                ////System.Diagnostics.Debug.WriteLine("XmlConvert-------------------Start " + dataUAV.Length + "[" + get_Size + ">" + row + "]");
                //if ((row == get_Size))
                //{
                XDocument xml = XDocument.Parse(dataUAV);       //阅读文本数据的XML数据
                //dataUAV = string.Empty;						// クリア
                var xmlRoot = xml.Root.Element("message");      //从XML 获得数据

                // IMU
                _BindingData.UAVpoint.Roll  = double.Parse(XmlDataGet(xmlRoot, "Data/UAV/IMU/Att", "i", "0"));
                _BindingData.UAVpoint.Pitch = double.Parse(XmlDataGet(xmlRoot, "Data/UAV/IMU/Att", "i", "1"));
                _BindingData.UAVpoint.Yaw   = double.Parse(XmlDataGet(xmlRoot, "Data/UAV/IMU/Att", "i", "2"));
                // Ctrl

                // Nav
                _BindingData.UAVpoint.Lon = double.Parse(XmlDataGet(xmlRoot, "Data/UAV/Nav/Lon"));
                _BindingData.UAVpoint.Lat = double.Parse(XmlDataGet(xmlRoot, "Data/UAV/Nav/Lat"));
                _BindingData.UAVpoint.Alt = double.Parse(XmlDataGet(xmlRoot, "Data/UAV/Nav/Alt"));
                double _x  = double.Parse(XmlDataGet(xmlRoot, "Data/UAV/Nav/Vel", "i", "0"));
                double _y  = double.Parse(XmlDataGet(xmlRoot, "Data/UAV/Nav/Vel", "i", "1"));
                double _z  = double.Parse(XmlDataGet(xmlRoot, "Data/UAV/Nav/Vel", "i", "2"));
                double _xx = _x * _x;
                double _yy = _y * _y;
                double _zz = _z * _z;

                double _spd = Math.Sqrt(_xx + _yy + _zz);
                _BindingData.UAVpoint.Speed = _spd;
                // Ref
                // Wpt
                _BindingData.NWaypoint.Lon   = double.Parse(XmlDataGet(xmlRoot, "Data/UAV/Wpt/Lon"));
                _BindingData.NWaypoint.Lat   = double.Parse(XmlDataGet(xmlRoot, "Data/UAV/Wpt/Lat"));
                _BindingData.NWaypoint.Alt   = double.Parse(XmlDataGet(xmlRoot, "Data/UAV/Wpt/Alt"));
                _BindingData.NWaypoint.Yaw   = double.Parse(XmlDataGet(xmlRoot, "Data/UAV/Wpt/Yaw"));
                _BindingData.NWaypoint.Speed = double.Parse(XmlDataGet(xmlRoot, "Data/UAV/Wpt/Spd"));
                _BindingData.NWaypoint.No    = int.Parse(XmlDataGet(xmlRoot, "Data/UAV/Wpt/No"));
                // Home
                _BindingData.Homepoint.Lon = double.Parse(XmlDataGet(xmlRoot, "Data/UAV/Home/Lon"));
                _BindingData.Homepoint.Lat = double.Parse(XmlDataGet(xmlRoot, "Data/UAV/Home/Lat"));
                _BindingData.Homepoint.Alt = double.Parse(XmlDataGet(xmlRoot, "Data/UAV/Home/Alt"));
                _BindingData.Homepoint.Yaw = double.Parse(XmlDataGet(xmlRoot, "Data/UAV/Home/Yaw"));
                // Sys
                _BindingData.nControlMode = int.Parse(XmlDataGet(xmlRoot, "Data/UAV/Sys/Mode/Ctrl"));
                ModeManager _controlMode = new ModeManager();
                _controlMode = GetControlModeStr(_BindingData.nControlMode);
                _BindingData.nControlModeName = _controlMode.ModeName;
                _BindingData.nReset           = _controlMode.Reset;
                _BindingData.nFlightMode      = int.Parse(XmlDataGet(xmlRoot, "Data/UAV/Sys/Mode/Auto"));
                _BindingData.nFlightModeName  = GetFlightModeStr(_BindingData.nFlightMode);
                _BindingData.nDriveMode       = int.Parse(XmlDataGet(xmlRoot, "Data/UAV/Sys/Mode/Drv"));

                _BindingData.Health.LowLvMcuProcTime  = int.Parse(XmlDataGet(xmlRoot, "Data/UAV/Sys/CPU", "a", "L"));
                _BindingData.Health.HighLvMcuProcTime = int.Parse(XmlDataGet(xmlRoot, "Data/UAV/Sys/CPU", "a", "H"));
                // Voltage
                _BindingData.BatteryVoltage = double.Parse(XmlDataGet(xmlRoot, "Data/UAV/Voltage"));

                // Health
                ////  LowerLevelMCU
                _BindingData.Health.LLMCU_RcReceiverCommunication = int.Parse(XmlDataGet(xmlRoot, "Data/UAV/Health/ReceiverComm"));
                _BindingData.Health.LLMCU_RcReceiverReception     = int.Parse(XmlDataGet(xmlRoot, "Data/UAV/Health/ReceiverRecep"));
                _BindingData.Health.LLMCU_GyroSensorCommunication = int.Parse(XmlDataGet(xmlRoot, "Data/UAV/Health/GyroComm"));
                _BindingData.Health.LLMCU_GyroSensorMeasurement   = int.Parse(XmlDataGet(xmlRoot, "Data/UAV/Health/GyroMeas"));

                ////  LowerLevelMCU - HigherLevelMCU Communication
                _BindingData.Health.McuComm_LowToHigh = int.Parse(XmlDataGet(xmlRoot, "Data/UAV/Health/McuComm", "a", "H"));
                _BindingData.Health.McuComm_HighToLow = int.Parse(XmlDataGet(xmlRoot, "Data/UAV/Health/McuComm", "a", "L"));

                ////  HigherLevelMCU
                _BindingData.Health.HLMCU_IMUCommunication         = int.Parse(XmlDataGet(xmlRoot, "Data/UAV/Health/ImuComm"));
                _BindingData.Health.HLMCU_IMUGyroMeasurement       = int.Parse(XmlDataGet(xmlRoot, "Data/UAV/Health/ImuGyroMeas"));
                _BindingData.Health.HLMCU_IMUAccMeasurement        = int.Parse(XmlDataGet(xmlRoot, "Data/UAV/Health/ImuAccMeas"));
                _BindingData.Health.HLMCU_IMUMagMeasurement        = int.Parse(XmlDataGet(xmlRoot, "Data/UAV/Health/ImuMagMeas"));
                _BindingData.Health.HLMCU_PresSensorCommunication  = int.Parse(XmlDataGet(xmlRoot, "Data/UAV/Health/PsComm"));
                _BindingData.Health.HLMCU_PresSensorMeasurement    = int.Parse(XmlDataGet(xmlRoot, "Data/UAV/Health/PsMeas"));
                _BindingData.Health.HLMCU_GpsReceiverCommunication = int.Parse(XmlDataGet(xmlRoot, "Data/UAV/Health/GpsComm"));
                _BindingData.Health.HLMCU_GpsMeasurement           = int.Parse(XmlDataGet(xmlRoot, "Data/UAV/Health/GpsMeas"));

                ////  UAV - Ground Control Station Cummunication
                _BindingData.Health.MainLink_UavToGcs = int.Parse(XmlDataGet(xmlRoot, "Data/UAV/Health/Datalink", "a", "D"));
                _BindingData.Health.MainLink_GcsToUav = int.Parse(XmlDataGet(xmlRoot, "Data/UAV/Health/Datalink", "a", "U"));

                // RSSI

                // Propo

                // Time
                // GPS
                _BindingData.nSat = int.Parse(XmlDataGet(xmlRoot, "Data/UAV/GPS/Sats"));

                switch (_getMode)
                {
                case 0:
                    break;

                case 1:
                    _BindingData.SubPoint.Lat   = double.Parse(XmlDataGet(xmlRoot, "Data/UAV/GPS/Lat"));
                    _BindingData.SubPoint.Lon   = double.Parse(XmlDataGet(xmlRoot, "Data/UAV/GPS/Lon"));
                    _BindingData.SubPoint.Alt   = double.Parse(XmlDataGet(xmlRoot, "Data/UAV/GPS/Alt"));
                    _BindingData.SubPoint.Yaw   = _BindingData.UAVpoint.Yaw;
                    _BindingData.SubPoint.Pitch = _BindingData.UAVpoint.Pitch;
                    _BindingData.SubPoint.Roll  = _BindingData.UAVpoint.Roll;
                    _x  = double.Parse(XmlDataGet(xmlRoot, "Data/UAV/GPS/Vel", "i", "0"));
                    _y  = double.Parse(XmlDataGet(xmlRoot, "Data/UAV/GPS/Vel", "i", "1"));
                    _z  = double.Parse(XmlDataGet(xmlRoot, "Data/UAV/GPS/Vel", "i", "2"));
                    _xx = _x * _x;
                    _yy = _y * _y;
                    _zz = _z * _z;

                    _spd = Math.Sqrt(_xx + _yy + _zz);
                    _BindingData.SubPoint.Speed = _spd;
                    break;
                }

                // ERROR
                for (int i = 0; i < 2; i++)
                {
                    _BindingData.ErrorID[i]       = int.Parse(XmlDataGet(xmlRoot, "Data/UAV/Error/ID", "i", i.ToString()));
                    _BindingData.ErrorLevel[i]    = int.Parse(XmlDataGet(xmlRoot, "Data/UAV/Error/Level", "i", i.ToString()));
                    _BindingData.ErrorTicks[i]    = int.Parse(XmlDataGet(xmlRoot, "Data/UAV/Error/Ticks", "i", i.ToString()));
                    _BindingData.ErrorCategory[i] = int.Parse(XmlDataGet(xmlRoot, "Data/UAV/Error/Category", "i", i.ToString()));
                    _BindingData.ErrorParam[i]    = int.Parse(XmlDataGet(xmlRoot, "Data/UAV/Error/Param", "i", i.ToString()));
                }


                if (mode == 2)
                {
                    _BindingData.CurrentTime = _BindingData.CurrentTime = double.Parse(XmlDataGet(xmlRoot, "FlightLog/Play/CurrentTime"));
                }

                #region Plot Data
                // 绘图数据列表
                if (_BindingData.PlotWindow.Count > 0)
                {
                    for (int i = 0; i < _BindingData.PlotWindow.Count; i++)
                    {
                        for (int j = 0; j < _BindingData.PlotWindow[i].PlotName.Count; j++)
                        {
                            int match = _BindingData.PlotWindow[i].PlotName[j].CompareTo("CPU使用率");

                            if (match == 0)
                            {
                            }
                            else
                            {
                                BindingData.PlotWindow[i].PlotValue[j] = double.Parse(PlotDataGet(xmlRoot, "Data/UAV/" + _BindingData.PlotWindow[i].PlotName[j]));
                            }
                        }
                    }
                }
                #endregion

                // 指令到达确认对话框
                _BindingData.CommandReplay = int.Parse(XmlDataGet(xmlRoot, "Data/UAV/Command/Response"));

                //固件版本
                GetFirmwareVersion(xmlRoot);


                // 清除
                dataUAV = string.Empty;
                //System.Diagnostics.Debug.WriteLine("XmlConvert-------------------End " + cnt);
                return(cnt);
                //}
                //else
                //{
                //	System.Diagnostics.Debug.WriteLine("XmlConvert-------------------End *******");
                //	return (-1);
                //}
            }
            //返回一个异常信息
            catch (System.Xml.XmlException ex)
            {
                //System.Diagnostics.Debug.WriteLine("XmlConvert: " + ex.Message);
                System.Windows.Forms.MessageBox.Show("(801) Xml Convert Error : " + ex.Message);
                return(-1);
            }
        }
コード例 #5
0
        /////////////////////////////////////////////////////////////////////////////////////////
        // 取得したメッセージ内のデータの読込み<---UAVデータ取得リストに変更がある場合、ココに追加すること
        public int XmlConvert()
        {
            try
            {
                if (dataUAV == "")
                {
                    return(-1);
                }

                int cnt = 0;
                int row = dataUAV.ToList().Where(c => c.Equals('\n')).Count();
                //System.Diagnostics.Debug.WriteLine("XmlConvert-------------------Start " + dataUAV.Length + "[" + get_Size + ">" + row + "]");
                if ((row == get_Size))
                {
                    XDocument xml = XDocument.Parse(dataUAV);                           // textデータをxmlデータに読み込む
                    //dataUAV = string.Empty;						// クリア
                    var xmlRoot = xml.Root.Element("message");                          // xmlからデータを取得

                    // IMU
                    _BindingData.UAVpoint.Roll  = double.Parse(XmlDataGet(xmlRoot, "Data/UAV/IMU/Att", "i", "0"));
                    _BindingData.UAVpoint.Pitch = double.Parse(XmlDataGet(xmlRoot, "Data/UAV/IMU/Att", "i", "1"));
                    _BindingData.UAVpoint.Yaw   = double.Parse(XmlDataGet(xmlRoot, "Data/UAV/IMU/Att", "i", "2"));
                    // Ctrl

                    // Nav
                    _BindingData.UAVpoint.Lon = double.Parse(XmlDataGet(xmlRoot, "Data/UAV/Nav/Lon"));
                    _BindingData.UAVpoint.Lat = double.Parse(XmlDataGet(xmlRoot, "Data/UAV/Nav/Lat"));
                    _BindingData.UAVpoint.Alt = double.Parse(XmlDataGet(xmlRoot, "Data/UAV/Nav/Alt"));
                    // Ref
                    // Wpt
                    _BindingData.NWaypoint.Lon   = double.Parse(XmlDataGet(xmlRoot, "Data/UAV/Wpt/Lon"));
                    _BindingData.NWaypoint.Lat   = double.Parse(XmlDataGet(xmlRoot, "Data/UAV/Wpt/Lat"));
                    _BindingData.NWaypoint.Alt   = double.Parse(XmlDataGet(xmlRoot, "Data/UAV/Wpt/Alt"));
                    _BindingData.NWaypoint.Yaw   = double.Parse(XmlDataGet(xmlRoot, "Data/UAV/Wpt/Yaw"));
                    _BindingData.NWaypoint.Speed = double.Parse(XmlDataGet(xmlRoot, "Data/UAV/Wpt/Spd"));
                    // Home
                    _BindingData.Homepoint.Lon = double.Parse(XmlDataGet(xmlRoot, "Data/UAV/Home/Lon"));
                    _BindingData.Homepoint.Lat = double.Parse(XmlDataGet(xmlRoot, "Data/UAV/Home/Lat"));
                    _BindingData.Homepoint.Alt = double.Parse(XmlDataGet(xmlRoot, "Data/UAV/Home/Alt"));
                    _BindingData.Homepoint.Yaw = double.Parse(XmlDataGet(xmlRoot, "Data/UAV/Home/Yaw"));
                    // Sys
                    _BindingData.nControlMode = int.Parse(XmlDataGet(xmlRoot, "Data/UAV/Sys/Mode/Ctrl"));
                    ModeManager _controlMode = new ModeManager();
                    _controlMode = GetControlModeStr(_BindingData.nControlMode);
                    _BindingData.nControlModeName = _controlMode.ModeName;
                    _BindingData.nReset           = _controlMode.Reset;
                    _BindingData.nFlightMode      = int.Parse(XmlDataGet(xmlRoot, "Data/UAV/Sys/Mode/Auto"));
                    _BindingData.nFlightModeName  = GetFlightModeStr(_BindingData.nFlightMode);
                    _BindingData.nDriveMode       = int.Parse(XmlDataGet(xmlRoot, "Data/UAV/Sys/Mode/Drv"));

                    _BindingData.Health.LowLvMcuProcTime  = int.Parse(XmlDataGet(xmlRoot, "Data/UAV/Sys/CPU", "a", "L"));
                    _BindingData.Health.HighLvMcuProcTime = int.Parse(XmlDataGet(xmlRoot, "Data/UAV/Sys/CPU", "a", "H"));
                    // Voltage
                    _BindingData.BatteryVoltage = double.Parse(XmlDataGet(xmlRoot, "Data/UAV/Voltage"));

                    // Health
                    ////  LowerLevelMCU
                    _BindingData.Health.LLMCU_RcReceiverCommunication = int.Parse(XmlDataGet(xmlRoot, "Data/UAV/Health/ReceiverComm"));
                    _BindingData.Health.LLMCU_RcReceiverReception     = int.Parse(XmlDataGet(xmlRoot, "Data/UAV/Health/ReceiverRecep"));
                    _BindingData.Health.LLMCU_GyroSensorCommunication = int.Parse(XmlDataGet(xmlRoot, "Data/UAV/Health/GyroComm"));
                    _BindingData.Health.LLMCU_GyroSensorMeasurement   = int.Parse(XmlDataGet(xmlRoot, "Data/UAV/Health/GyroMeas"));

                    ////  LowerLevelMCU - HigherLevelMCU Communication
                    _BindingData.Health.McuComm_LowToHigh = int.Parse(XmlDataGet(xmlRoot, "Data/UAV/Health/McuComm", "a", "H"));
                    _BindingData.Health.McuComm_HighToLow = int.Parse(XmlDataGet(xmlRoot, "Data/UAV/Health/McuComm", "a", "L"));

                    ////  HigherLevelMCU
                    _BindingData.Health.HLMCU_IMUCommunication         = int.Parse(XmlDataGet(xmlRoot, "Data/UAV/Health/ImuComm"));
                    _BindingData.Health.HLMCU_IMUGyroMeasurement       = int.Parse(XmlDataGet(xmlRoot, "Data/UAV/Health/ImuGyroMeas"));
                    _BindingData.Health.HLMCU_IMUAccMeasurement        = int.Parse(XmlDataGet(xmlRoot, "Data/UAV/Health/ImuAccMeas"));
                    _BindingData.Health.HLMCU_IMUMagMeasurement        = int.Parse(XmlDataGet(xmlRoot, "Data/UAV/Health/ImuMagMeas"));
                    _BindingData.Health.HLMCU_PresSensorCommunication  = int.Parse(XmlDataGet(xmlRoot, "Data/UAV/Health/PsComm"));
                    _BindingData.Health.HLMCU_PresSensorMeasurement    = int.Parse(XmlDataGet(xmlRoot, "Data/UAV/Health/PsMeas"));
                    _BindingData.Health.HLMCU_GpsReceiverCommunication = int.Parse(XmlDataGet(xmlRoot, "Data/UAV/Health/GpsComm"));
                    _BindingData.Health.HLMCU_GpsMeasurement           = int.Parse(XmlDataGet(xmlRoot, "Data/UAV/Health/GpsMeas"));

                    ////  UAV - Ground Control Station Cummunication
                    _BindingData.Health.MainLink_UavToGcs = int.Parse(XmlDataGet(xmlRoot, "Data/UAV/Health/Datalink", "a", "D"));
                    _BindingData.Health.MainLink_GcsToUav = int.Parse(XmlDataGet(xmlRoot, "Data/UAV/Health/Datalink", "a", "U"));

                    // RSSI

                    // Propo

                    // Time
                    // GPS
                    _BindingData.nSat = int.Parse(XmlDataGet(xmlRoot, "Data/UAV/GPS/Sats"));

                    if (mode == 2)
                    {
                        _BindingData.CurrentTime = _BindingData.CurrentTime = double.Parse(XmlDataGet(xmlRoot, "FlightLog/Play/CurrentTime"));
                    }

                    #region Plot Data
                    // プロットデータリスト
                    if (_BindingData.PlotWindow.Count > 0)
                    {
                        for (int i = 0; i < _BindingData.PlotWindow.Count; i++)
                        {
                            for (int j = 0; j < _BindingData.PlotWindow[i].PlotName.Count; j++)
                            {
                                int match = _BindingData.PlotWindow[i].PlotName[j].CompareTo("CPU使用率");

                                if (match == 0)
                                {
                                }
                                else
                                {
                                    BindingData.PlotWindow[i].PlotValue[j] = double.Parse(PlotDataGet(xmlRoot, "Data/UAV/" + _BindingData.PlotWindow[i].PlotName[j]));
                                }
                            }
                        }
                    }
                    #endregion

                    //dataUAV = string.Empty;
                    //System.Diagnostics.Debug.WriteLine("XmlConvert-------------------End " + cnt);
                    return(cnt);
                }
                else
                {
                    System.Diagnostics.Debug.WriteLine("XmlConvert-------------------End *******");
                    return(-1);
                }
            }
            catch (System.Xml.XmlException ex)
            {
                //System.Diagnostics.Debug.WriteLine("XmlConvert: " + ex.Message);
                System.Windows.Forms.MessageBox.Show("(801) Xml Convert Error : " + ex.Message);
                return(-1);
            }
        }