public Form1()
{
InitializeComponent();
gmap.MapProvider = GMap.NET.MapProviders.BingMapProvider.Instance;
GMap.NET.GMaps.Instance.Mode = GMap.NET.AccessMode.ServerOnly;
gmap.Position = new GMap.NET.PointLatLng(42.292315, -83.715531);
lastPoint = new GMap.NET.PointLatLng(42.292315, -83.715531);
gmap.MouseDoubleClick += new MouseEventHandler(MainMap_MouseDoubleClick);
DroneTerminal.AppendText("Drone Battery: 98%" + Environment.NewLine);
xbee = new Xbee(this);
}
public void UpdateValues()
{
//Print current GPS position to the terminal
if (DroneTerminal.InvokeRequired)
{
DroneTerminal.Invoke(new MethodInvoker(delegate { DroneTerminal.AppendText("Current GPS: " + SharedVars.currentGps.x + "," + SharedVars.currentGps.y + "," + SharedVars.currentGps.z + '\n');
DroneTerminal.AppendText("Current Gyro: " + SharedVars.sensorData.gyroData.x + "," + SharedVars.sensorData.gyroData.y + "," + SharedVars.sensorData.gyroData.z + '\n'); }));
}
else
{
DroneTerminal.AppendText("Current GPS: " + SharedVars.sensorData.currentGPS.x + "," + SharedVars.sensorData.currentGPS.y + "," + SharedVars.sensorData.currentGPS.z + '\n' +
"Current Gyro: " + SharedVars.sensorData.gyroData.x + "," + SharedVars.sensorData.gyroData.y + "," + SharedVars.sensorData.gyroData.z + '\n');
}
//Update flight mode value
if (textBox1.InvokeRequired)
{
textBox1.Invoke(new MethodInvoker(delegate { textBox1.Text = "Current Flight Mode: " + SharedVars.flightMode.ToString(); }));
}
else
{
textBox1.Text = "Current Flight Mode: " + SharedVars.flightMode.ToString();
}
if (liveVideoFeedBox.InvokeRequired)
{
liveVideoFeedBox.Invoke(new MethodInvoker(delegate { liveVideoFeedBox.Image = SharedVars.videoFeedImage; }));
}
else
{
//Update Live video feed pic
liveVideoFeedBox.Image = SharedVars.videoFeedImage;
}
if (pictureBox1.InvokeRequired)
{
pictureBox1.Invoke(new MethodInvoker(delegate { pictureBox1.Image = SharedVars.objectDetectionImage; }));
}
else
{
//Update Live video feed pic
pictureBox1.Image = SharedVars.objectDetectionImage;
}
if (gmap.InvokeRequired)
{
gmap.Invoke(new MethodInvoker(delegate { gmap.Position = new GMap.NET.PointLatLng(SharedVars.sensorData.currentGPS.x, SharedVars.sensorData.currentGPS.y); }));
}
else
{
//Jump to current GPS position on map
gmap.Position = new GMap.NET.PointLatLng(SharedVars.sensorData.currentGPS.x, SharedVars.sensorData.currentGPS.y);
}
}
private void button1_Click(object sender, EventArgs e)
{
textBox1.Text = "Current Flight Mode: Return to Operator";
DroneTerminal.AppendText("Drone Returning to operator" + Environment.NewLine);
sendFlightMode(FlightMode.home);
}
//Manual Flight Button
private void button4_Click_1(object sender, EventArgs e)
{
textBox1.Text = "Current Flight Mode: Manual Flight";
DroneTerminal.AppendText("Entering Manual Flight" + Environment.NewLine);
sendFlightMode(FlightMode.manualFlight);
}
private void button3_Click_1(object sender, EventArgs e)
{
textBox1.Text = "Current Flight Mode: GPS Waypoint";
DroneTerminal.AppendText("Entering GPS Waypoint Mode" + Environment.NewLine);
sendFlightMode(FlightMode.gpsNav);
}
private void button2_Click_1(object sender, EventArgs e)
{
textBox1.Text = "Current Flight Mode: Computer Vision";
DroneTerminal.AppendText("Entering Computer Vision Mode" + Environment.NewLine);
sendFlightMode(FlightMode.roadLineDetection);
}