public MAVState(LinkInterface LinkInterface, byte sysid, byte compid)
{
this.parent = LinkInterface;
this.sysid = sysid;
this.compid = compid;
this.packetspersecond = new Dictionary <uint, double>();
this.packetspersecondbuild = new Dictionary <uint, DateTime>();
this.lastvalidpacket = DateTime.MinValue;
sendlinkid = (byte)(new Random().Next(256));
//this.param = new MAVLinkParamList();
this.packets = new Dictionary <uint, MAVLinkMessage>();
this.recvpacketcount = 0;
this.VersionString = "";
camerapoints.Clear();
GMapMarkerOverlapCount.Clear();
this.packetslost = 0f;
this.packetsnotlost = 0f;
this.packetlosttimer = DateTime.MinValue;
cs.parent = this;
}
private void BUT_connect_Click(object sender, EventArgs e)
{
var mav = new LinkInterface();
try
{
MainV2.instance.doConnect(mav, CMB_serialport.Text, CMB_baudrate.Text);
MainV2.Comports.Add(mav);
MainV2._connectionControl.UpdateSysIDS();
}
catch (Exception)
{
}
}
public void doDisconnect(LinkInterface comPort)
{
log.Info("We are disconnecting");
try
{
comPort.BaseStream.DtrEnable = false;
comPort.Close();
}
catch (Exception ex)
{
log.Error(ex);
}
// now that we have closed the connection, cancel the connection stats
// so that the 'time connected' etc does not grow, but the user can still
// look at the now frozen stats on the still open form
try
{
System.Threading.ThreadPool.QueueUserWorkItem((WaitCallback) delegate
{
try
{
aeromagtec.Log.LogSort.SortLogs(Directory.GetFiles(Settings.Instance.LogDir, "*.tlog"));
}
catch
{
}
}
);
}
catch
{
}
this.MenuConnect.Image = global::aeromagtec.Properties.Resources.light_connect_icon;
}
public void UpdateCurrentSettings(System.Windows.Forms.BindingSource bs, bool updatenow,
LinkInterface mavinterface, MAVState MAV)
{
lock (this)
{
if (updatenow) //
{
lastupdate = DateTime.Now;
//MainV2.comPort.UartDataParser();
//check if valid mavinterface
//if (parent != null && parent.packetsnotlost != 0)
//{
// if ((DateTime.Now - parent.lastvalidpacket).TotalSeconds > 10)
// {
// linkqualitygcs = 0;
// }
// else
// {
// linkqualitygcs =
// (ushort)((parent.packetsnotlost / (parent.packetsnotlost + parent.packetslost)) * 100.0);
// }
// if (linkqualitygcs > 100)
// linkqualitygcs = 100;
//}
if (datetime.Second != lastsecondcounter.Second)
{
lastsecondcounter = datetime;
if (lastpos.Lat != 0 && lastpos.Lng != 0)
{
// 应该判断接口打开后初始化distTraveled=0
distTraveled += (float)lastpos.GetDistance(new PointLatLngAlt(lat, lng, 0, "")) *
multiplierdist;
lastpos = new PointLatLngAlt(lat, lng, 0, "");
}
else
{
lastpos = new PointLatLngAlt(lat, lng, 0, "");
}
}
// re-request streams
}
try
{
if (csCallBack != null)
{
csCallBack(this, null);
}
}
catch
{
}
//Console.Write(DateTime.Now.Millisecond + " start ");
// update form
try
{
if (bs != null)
{
bs.DataSource = this;
//bs.DataSource = dataExp.RawDataTable();
bs.ResetBindings(false);
return;
/*
*
* sw.Start();
* bs.SuspendBinding();
* bs.Clear();
* bs.ResumeBinding();
* bs.Add(this);
* sw.Stop();
* elaps = sw.Elapsed;
* Console.WriteLine("2 " + elaps.ToString("0.#####") + " done ");
*
* sw.Start();
* if (bs.Count > 100)
* bs.Clear();
* bs.Add(this);
* sw.Stop();
* elaps = sw.Elapsed;
* Console.WriteLine("3 " + elaps.ToString("0.#####") + " done ");
*/
}
}
catch
{
log.InfoFormat("CurrentState Binding error");
}
}
}
/// <summary>
/// Use the default sysid
/// </summary>
/// <param name="bs"></param>
/// <param name="updatenow"></param>
/// <param name="mavinterface"></param>
public void UpdateCurrentSettings(System.Windows.Forms.BindingSource bs, bool updatenow,
LinkInterface mavinterface)
{
UpdateCurrentSettings(bs, updatenow, mavinterface, mavinterface.MAV);
}
public void doConnect(LinkInterface comPort, string portname)
{
bool skipconnectcheck = false;
switch (portname)
{
case "preset":
skipconnectcheck = true;
break;
case "TCP":
comPort.BaseStream = new TcpSerial();
break;
case "UDP":
comPort.BaseStream = new UdpSerial();
break;
case "UDPCl":
comPort.BaseStream = new UdpSerialConnect();
break;
case "AUTO":
// do autoscan
Comms.CommsSerialScan.Scan(true);
DateTime deadline = DateTime.Now.AddSeconds(50);
while (Comms.CommsSerialScan.foundport == false)
{
System.Threading.Thread.Sleep(100);
if (DateTime.Now > deadline || Comms.CommsSerialScan.run == 0)
{
CustomMessageBox.Show(Strings.Timeout);
return;
}
}
return;
default:
comPort.BaseStream = new SerialPort();
break;
}
// Tell the connection UI that we are now connected.
//_connectionControl.IsConnected(true);
// Here we want to reset the connection stats counter etc.
comPort.MAV.cs.ResetInternals();
//cleanup any log being played
comPort.logreadmode = false;
if (comPort.logplaybackfile != null)
{
comPort.logplaybackfile.Close();
}
comPort.logplaybackfile = null;
try
{
log.Info("Set Portname");
// set port, then options
if (portname.ToLower() != "preset")
{
comPort.BaseStream.PortName = portname;
}
log.Info("Set Baudrate");
try
{
if (baud != "" && baud != "0")
{
comPort.BaseStream.BaudRate = int.Parse(baud);
}
}
catch (Exception exp)
{
log.Error(exp);
}
// prevent serialreader from doing anything
comPort.giveComport = true;
log.Info("About to do dtr if needed");
// reset on connect logic.
if (Settings.Instance.GetBoolean("CHK_resetapmonconnect") == true)
{
log.Info("set dtr rts to false");
comPort.BaseStream.DtrEnable = false;
comPort.BaseStream.RtsEnable = false;
comPort.BaseStream.toggleDTR();
}
comPort.giveComport = false;
// setup to record new logs
try
{
Directory.CreateDirectory(Settings.Instance.LogDir);
lock (this)
{
// create log names
var dt = DateTime.Now.ToString("yyyy-MM-dd HH-mm-ss");
var tlog = Settings.Instance.LogDir + Path.DirectorySeparatorChar +
dt + ".tlog";
var rlog = Settings.Instance.LogDir + Path.DirectorySeparatorChar +
dt + ".rlog";
// check if this logname already exists
int a = 1;
while (File.Exists(tlog))
{
Thread.Sleep(1000);
// create new names with a as an index
dt = DateTime.Now.ToString("yyyy-MM-dd HH-mm-ss") + "-" + a.ToString();
tlog = Settings.Instance.LogDir + Path.DirectorySeparatorChar +
dt + ".tlog";
rlog = Settings.Instance.LogDir + Path.DirectorySeparatorChar +
dt + ".rlog";
}
//open the logs for writing
comPort.logfile =
new BufferedStream(File.Open(tlog, FileMode.CreateNew, FileAccess.ReadWrite, FileShare.None));
comPort.rawlogfile =
new BufferedStream(File.Open(rlog, FileMode.CreateNew, FileAccess.ReadWrite, FileShare.None));
log.Info("creating logfile " + dt + ".tlog");
}
}
catch (Exception exp2)
{
log.Error(exp2);
CustomMessageBox.Show(Strings.Failclog);
} // soft fail
// reset connect time - for timeout functions
connecttime = DateTime.Now;
// do the connect
comPort.Open(skipconnectcheck);
if (!comPort.BaseStream.IsOpen)
{
log.Info("comport is closed. existing connect");
try
{
IsConnected = false;
UpdateConnectIcon();
comPort.Close();
}
catch
{
}
return;
}
// set connected icon
this.MenuConnect.Image = displayicons.disconnect;
}
catch (Exception ex)
{
log.Warn(ex);
try
{
IsConnected = false;
UpdateConnectIcon();
comPort.Close();
}
catch (Exception ex2)
{
log.Warn(ex2);
}
CustomMessageBox.Show("Can not establish a connection\n\n" + ex.Message);
return;
}
}
