public double getDistance(PointLatLng p1, PointLatLng p2)
{
GMapRoute route = new GMapRoute("getDistance");
route.Points.Add(p1);
route.Points.Add(p2);
double distance = route.Distance;
route.Clear();
route = null;
return distance;
}
public PlaybackSbxjHelper(RMap map,IContainer c) {
_map = map;
playOverlay = map.FindOverlay("play");
if (playOverlay == null) {
playOverlay = new GMapOverlay(map, "play");
map.Overlays.Add(playOverlay);
playRoute = new GMapRoute(new List<GMap.NET.PointLatLng>(), "play");
playRoute.Stroke.Color = Color.Red;
playRoute.Stroke.Width = 3;
playOverlay.Routes.Add(playRoute);
}
car = new GMapMarkerGoogleGreen(new GMap.NET.PointLatLng(0, 0));
car.ToolTipMode = MarkerTooltipMode.Always;
car.ToolTipText = "man";
car.ToolTip.Format.Alignment = StringAlignment.Near;
playOverlay.Markers.Add(car);
queue_pos = new Queue<gps_position>();
dataTimer = new Timer();
dataTimer.Tick += new EventHandler(dataTimer_Tick);
dataTimer.Interval = 1;
playTimer = new Timer();
playTimer.Tick += new EventHandler(playTimer_Tick);
playTimer.Interval = 1000;
}
public RoutePointMarker(GMap.NET.PointLatLng p, int routePointIndex, GMapRoute route)
: base(p)
{
_route = route;
_routePointIndex = routePointIndex;
base.Size = new Size(8, 8);
base.Offset = new Point((-1) * base.Size.Width / 2, (-1) * base.Size.Height / 2);
}
public static GMapRoute GetRouteFromKml(string fileName)
{
try
{
//XDocument root = XDocument.Load(new System.IO.StreamReader(fileName));
XElement root = XElement.Load(new System.IO.StreamReader(fileName));
IEnumerable<string> coordinates = from c in root.Descendants(XName.Get("coordinates", root.Name.NamespaceName))
select (string)c;
foreach (string c in coordinates)
{
List<PointLatLng> points = new List<GMap.NET.PointLatLng>();
string[] ss = c.Split(new char[] { ' ', '\n', '\t' }, StringSplitOptions.RemoveEmptyEntries);
foreach (string sss in ss)
{
string[] ss2 = sss.Split(new char[] { ',' }, StringSplitOptions.RemoveEmptyEntries);
points.Add(new PointLatLng(Convert.ToDouble(ss2[1]), Convert.ToDouble(ss2[0])));
}
GMapRoute rt = new GMapRoute(points, string.Empty);
{
rt.Stroke = new Pen(Color.FromArgb(144, Color.Red));
rt.Stroke.Width = 5;
rt.Stroke.DashStyle = System.Drawing.Drawing2D.DashStyle.Solid;
}
return rt;
}
}
catch (Exception ex)
{
System.Windows.Forms.MessageBox.Show(ex.Message);
}
return null;
}
private void MapControl_OnRouteEnter(GMapRoute item)
{
if (marker != null)
item.Overlay.Markers.Remove(marker);
var point = item.Overlay.Control.PointToClient(Control.MousePosition);
var pos = item.Overlay.Control.FromLocalToLatLng(point.X, point.Y);
marker = new GMapMarkerRect(pos) { ToolTipMode = MarkerTooltipMode.Always, ToolTipText = createMessage(item.Tag), IsHitTestVisible = false };
item.Overlay.Markers.Add(marker);
}
private void timer1_Tick(object sender, EventArgs e)
{
GMap.NET.WindowsForms.Markers.GMarkerGoogle curPos = new GMap.NET.WindowsForms.Markers.GMarkerGoogle(initialPoint, GMap.NET.WindowsForms.Markers.GMarkerGoogleType.blue_pushpin);
path = GMap.NET.MapProviders.GoogleMapProvider.Instance.GetRoute(initialPoint, finalPoint, false, false, 15);
GMapRoute route = new GMapRoute(path.Points, "My route");
overlayRoute.Routes.Clear();
overlayRoute.Routes.Add(route);
areaMap.Overlays.Add(overlayRoute);
label10.Text = (path.Distance * 1000).ToString();
areaMap.Refresh();
}
public static void DrawMap(GMapControl map, List<Point> points, Color color, bool includeMarkers)
{
Pen pen = new Pen(color, 3.0f);
List<PointLatLng> allMapPoints = points.Select(point => new PointLatLng(point.Latitude, point.Longitude)).ToList();
GMapRoute route = new GMapRoute(allMapPoints, "Route");
route.Stroke = pen;
map.ZoomAndCenterRoute(route);
GMapOverlay overlay = new GMapOverlay(map, "Overlay");
if (includeMarkers)
{
overlay.Markers.Add(new GMap.NET.WindowsForms.Markers.GMapMarkerGoogleGreen(new PointLatLng(allMapPoints.First().Lat, allMapPoints.First().Lng)));
overlay.Markers.Add(new GMap.NET.WindowsForms.Markers.GMapMarkerGoogleRed(new PointLatLng(allMapPoints.Last().Lat, allMapPoints.Last().Lng)));
}
overlay.Routes.Add(route);
map.Overlays.Add(overlay);
}
void BuildRoute()
{
if (markersOverlay.Markers.Count > 0)
{
List<PointLatLng> points = new List<PointLatLng>();
for (int i = 0; i < markersOverlay.Markers.Count; i++)
{
points.Add(markersOverlay.Markers[i].Position);
}
GMapRoute route = new GMapRoute(points, "myRoute");
routeOverlay.Routes.Clear();
routeOverlay.Routes.Add(route);
MainMap.Overlays.Add(routeOverlay);
MainMap.UpdateRouteLocalPosition(route);
}
}
public static void Build(ref GMapOverlay OverlayOut)
{
// Here loop through defined state borders and display them on the map
foreach (SystemAdaptationDataSet.StateBorder State in SystemAdaptationDataSet.StateBorderDataSet)
{
System.Collections.Generic.List<PointLatLng> SectorPointList = new System.Collections.Generic.List<PointLatLng>();
foreach (GeoCordSystemDegMinSecUtilities.LatLongClass SectorPoint in State.StateBorderPoints)
{
SectorPointList.Add(new PointLatLng(SectorPoint.GetLatLongDecimal().LatitudeDecimal, SectorPoint.GetLatLongDecimal().LongitudeDecimal));
}
GMapRoute StateBoundaryData = new GMapRoute(SectorPointList, State.StateName);
StateBoundaryData.Stroke.Width = DisplayAttributes.GetDisplayAttribute(DisplayAttributes.DisplayItemsType.StateBorder).LineWidth;
StateBoundaryData.Stroke.DashStyle = DisplayAttributes.GetDisplayAttribute(DisplayAttributes.DisplayItemsType.StateBorder).LineStyle;
StateBoundaryData.Stroke.Color = DisplayAttributes.GetDisplayAttribute(DisplayAttributes.DisplayItemsType.StateBorder).LineColor;
OverlayOut.Routes.Add(StateBoundaryData);
}
}
void refreshRoute() {
List<PointLatLng> linePoints = new List<PointLatLng>();
foreach (GMapMarker m in routes.Markers) {
m.Tag = linePoints.Count;
linePoints.Add(m.Position);
m.ToolTipMode = MarkerTooltipMode.Never;
}
if (routes.Markers.Count > 1) {
routes.Markers[routes.Markers.Count - 1].ToolTipMode = MarkerTooltipMode.Always;
}
if (linePoints.Count > 0) {
GMapRoute route = new GMapRoute(linePoints, "distance");
route.Stroke.Width = 4;
routes.Routes.Clear();
routes.Routes.Add(route);
}
}
public void AddRoute(List<PointLatLng> route)
{
// add route
GMapRoute r = new GMapRoute(route, "test");
routes.Routes.Add(r);
//// add route start/end marks
//GMapMarker m1 = new GMapMarkerGoogleRed(start);
//m1.ToolTipText = "Start: " + start.ToString();
//m1.TooltipMode = MarkerTooltipMode.Always;
//GMapMarker m2 = new GMapMarkerGoogleGreen(end);
//m2.ToolTipText = "End: " + end.ToString();
//m2.TooltipMode = MarkerTooltipMode.Always;
//objects.Markers.Add(m1);
//objects.Markers.Add(m2);
MainMap.ZoomAndCenterRoute(r);
}
private void destinationMenuItem_Click(object sender, EventArgs e)
{
GMarkerGoogle marker = new GMarkerGoogle(gPoint, GMarkerGoogleType.red);
markers.Markers.Add(marker);
PointLatLng start = new PointLatLng(markers.Markers[0].Position.Lat, markers.Markers[0].Position.Lng);
PointLatLng end = new PointLatLng(markers.Markers[1].Position.Lat, markers.Markers[1].Position.Lng);
MapRoute route = GMap.NET.MapProviders.GoogleMapProvider.Instance.GetRoute(
start,
end,
false,
false,
14
);
GMapRoute r = new GMapRoute(route.Points, "My route");
GMapOverlay routesOverlay = new GMapOverlay("routes");
routesOverlay.Routes.Add(r);
myMap.Overlays.Add(routesOverlay);
// Térkép frissítése a route felrakása után, különben csak egy zoomolás után látszik a route.
myMap.UpdateRouteLocalPosition(r);
myMap.Invalidate();
}
public void AddRoute(MapRoute MapRoute, GMapRoute Route, Color RouteColor)
{
AddRoute((int)MapRoute, Route, RouteColor);
}
private void drawObject(xObject x)
{
xObGroup obGr = _Dh.getGroupById(x.ObGroupId);
GMapOverlay ov = _Dh.getOverlay(TheMap, obGr);
switch (obGr.GroupType)
{
case ObjectType.DOT:
GMarkerGoogle marker = null;
PointLatLng point = x.Coordinates[0];
if (obGr.Appendix.Length > 5)
{
Bitmap bmp;
using (var ms = new MemoryStream(Convert.FromBase64String(obGr.Appendix)))
{
bmp = new Bitmap(ms);
}
marker = new GMarkerGoogle(point, bmp);
}
else
{
marker = new GMarkerGoogle(point, GMarkerGoogleType.green);
}
MarkerTooltipMode mode = MarkerTooltipMode.Always;
marker.ToolTip = new GMapBaloonToolTip(marker);
marker.ToolTipMode = mode;
Brush ToolTipBackColor = new SolidBrush(Color.Transparent);
marker.ToolTipText = x.Name;
x.Marker = marker;
ov.Markers.Add(x.Marker);
TheMap.UpdateMarkerLocalPosition(x.Marker);
break;
case ObjectType.ROUTE:
GMapRoute route = new GMapRoute(x.Coordinates, x.Name);
route.Stroke = obGr.Pen;
route.IsHitTestVisible = true;
x.Marker = new GMarkerGoogle(route.Points[0], new Bitmap(1, 1))
{
Tag = x.Name, IsVisible = false, ToolTipMode = MarkerTooltipMode.Always, ToolTipText = x.Name
};
x.Route = route;
ov.Routes.Add(x.Route);
x.Route.Overlay.Markers.Add(x.Marker);
break;
case ObjectType.POLYGON:
var polygon = new GMapPolygon(x.Coordinates, x.Name);
polygon.Fill = new SolidBrush(Color.FromArgb(50, obGr.Pen.Color));
polygon.Stroke = obGr.Pen;
polygon.IsHitTestVisible = true;
x.Marker = new GMarkerGoogle(polygon.Points[0], new Bitmap(1, 1))
{
Tag = x.Name, IsVisible = false, ToolTipMode = MarkerTooltipMode.Always, ToolTipText = x.Name
};
x.Polygon = polygon;
ov.Polygons.Add(x.Polygon);
x.Polygon.Overlay.Markers.Add(x.Marker);
break;
}
}
private void LoadTracksForDriver(int driverId)
{
tracksOverlay.Clear();
tracksDistance.Clear();
//Load tracks
var driverRow = (yTreeViewDrivers.RepresentationModel.ItemsList as IList <Vodovoz.ViewModel.WorkingDriverVMNode>).FirstOrDefault(x => x.Id == driverId);
int colorIter = 0;
foreach (var routeId in driverRow.RouteListsIds)
{
var pointList = _trackRepository.GetPointsForRouteList(uow, routeId.Key);
if (pointList.Count == 0)
{
continue;
}
var points = pointList.Select(p => new PointLatLng(p.Latitude, p.Longitude));
var route = new GMapRoute(points, routeId.ToString());
route.Stroke = new System.Drawing.Pen(GetTrackColor(colorIter));
colorIter++;
route.Stroke.Width = 4;
route.Stroke.DashStyle = System.Drawing.Drawing2D.DashStyle.Solid;
tracksDistance.Add(MakeDistanceLayout(route));
tracksOverlay.Routes.Add(route);
}
//LoadAddresses
foreach (var point in yTreeAddresses.RepresentationModel.ItemsList as IList <DriverRouteListAddressVMNode> )
{
if (point.Address == null)
{
logger.Warn("Для заказа №{0}, отсутствует точка доставки. Поэтому добавление маркера пропущено.", point.OrderId);
continue;
}
if (point.Address.Latitude.HasValue && point.Address.Longitude.HasValue)
{
GMarkerGoogleType type;
switch (point.Status)
{
case RouteListItemStatus.Completed:
type = GMarkerGoogleType.green_small;
break;
case RouteListItemStatus.EnRoute:
type = GMarkerGoogleType.gray_small;
break;
case RouteListItemStatus.Canceled:
type = GMarkerGoogleType.purple_small;
break;
case RouteListItemStatus.Overdue:
type = GMarkerGoogleType.red_small;
break;
default:
type = GMarkerGoogleType.none;
break;
}
var addressMarker = new GMarkerGoogle(new PointLatLng((double)point.Address.Latitude, (double)point.Address.Longitude), type);
addressMarker.ToolTipText =
$"{point.Address.ShortAddress}\nВремя доставки: {point.Time?.Name ?? "Не назначено"}";
tracksOverlay.Markers.Add(addressMarker);
}
}
buttonCleanTrack.Sensitive = true;
}
public void ReDrawgMap()
{
string lat, lon, poiname;
PointLatLng center_position = _mapcontrol.Position;
//_markers.Clear();
_mapcontrol.Overlays.Clear();
_mapcontrol.Position = center_position;
//_mapcontrol.ShowCenter = false;
_overmarkers = new GMapOverlay("markers");
_overroutes = new GMapOverlay("routes");
_overpolys = new GMapOverlay("polygons");
_mapcontrol.Overlays.Add(_overmarkers);
_mapcontrol.Overlays.Add(_overroutes);
_mapcontrol.Overlays.Add(_overpolys);
// Map POI
int poicount = _wpg.POICount();
for (int i = 0; i < poicount; i++)
{
GMapMarker marker;
POIPoints pnt = _wpg.POIPointAt(i);
poiname = pnt.name;
//if (i == 0) _mapcontrol.Position = new global::GMap.NET.PointLatLng(pnt.lat, pnt.lon);
if (pnt.selected)
{
marker = new GMarkerGoogle(new PointLatLng(pnt.lat, pnt.lon), _poi_selected_image);
}
else
{
marker = new GMarkerGoogle(new PointLatLng(pnt.lat, pnt.lon), _poi_image);
}
//GMarkerGoogleType.blue_pushpin);
marker.Offset = new Point(-16, -16);
marker.ToolTipText = poiname;
marker.Tag = poiname;
marker.IsVisible = pnt.visible;
//marker.IsVisible = true;
marker.IsHitTestVisible = true;
_overmarkers.Markers.Add(marker);
}
// Map Path
int pathcount = _wpg.PathCount();
for (int i = 0; i < pathcount; i++)
{
Models.Path path = _wpg.PathAt(i);
bool path_visible = path.visible;
bool path_selected = path.selected;
string name = path.name;
LinkedList <WayPoints> wplist = path.waypoints;
if (wplist != null)
{
int wpcount = wplist.Count;
List <PointLatLng> points = new List <PointLatLng>();
int count = 0;
foreach (WayPoints wp in wplist)
{
points.Add(new PointLatLng(wp.lat, wp.lon));
GMapMarker marker;
if (path_selected | wp.selected)
{
_drone_image = _drone_image_selected;
_drone_image = RotateImage(_drone_image_selected, wp.head);
marker = new GMarkerGoogle(new PointLatLng(wp.lat, wp.lon), _drone_image);
//GMarkerGoogleType.red_pushpin);
}
else
{
_drone_image = _drone_image_notselected;
_drone_image = RotateImage(_drone_image_notselected, wp.head);
marker = new GMarkerGoogle(new PointLatLng(wp.lat, wp.lon), _drone_image);
//GMarkerGoogleType.blue_pushpin);
}
//marker.Size = new Size(64,64);
marker.Offset = new Point(-16, -16);
marker.Tag = Convert.ToString(i) + "." + Convert.ToString(count);
marker.IsVisible = path_visible;
marker.ToolTipText = "WP(" + Convert.ToString(count) + ") - Alt:" + Convert.ToString(wp.alt);
_overmarkers.Markers.Add(marker);
GMAPWPMarker wpmarker = new GMAPWPMarker();
wpmarker.path = i;
wpmarker.wp = count;
wpmarker.marker = marker;
wpmarker.selected = wp.selected;
_markers.Add(wpmarker);
count++;
}
GMapRoute route = new GMapRoute(points, name);
route.Stroke = new Pen(Color.Blue, 2);
route.Tag = i;
route.IsVisible = path_visible;
route.IsHitTestVisible = true;
_overroutes.Routes.Add(route);
}
//gMap.Overlays.Add(overroutes);
//gMap.Overlays.Add(markers);
}
//gMap.Overlays.Add(markers);
// Map Polygon
int polycount = _wpg.ShapeCount();
for (int i = 0; i < polycount; i++)
{
Models.Shape polyshape = _wpg.ShapeAt(i);
string name = polyshape.name;
LinkedList <PolyPoint> wplist = polyshape.points;
int wpcount = wplist.Count;
List <PointLatLng> points = new List <PointLatLng>();
foreach (PolyPoint wp in wplist)
{
points.Add(new PointLatLng(wp.lat, wp.lon));
}
GMapPolygon poly = new GMapPolygon(points, name);
if (polyshape.selected)
{
poly.Stroke = new Pen(Color.Red, 1);
}
else
{
poly.Stroke = new Pen(Color.Yellow, 1);
}
poly.Fill = new SolidBrush(Color.FromArgb(25, Color.Yellow));
poly.Tag = polyshape.name;
poly.IsVisible = polyshape.visible;
poly.IsHitTestVisible = true;
_overpolys.Polygons.Add(poly);
}
_mapcontrol.Position = center_position;
}
private void dataGridView1_CellContentClick(object sender, DataGridViewCellEventArgs e)
{
marcadores.Clear();
int index = dataRutas.CurrentRow.Index;
Servicio temporal = user.ServiciosRegistrados[index];
if (temporal.TipoServ.Equals(Servicio.SERVICIO_DE_COMPRA))
{
String[] inicio = temporal.Partida.Split('*');
double i1 = Double.Parse(inicio[0]);
double i2 = Double.Parse(inicio[1]);
string[] fin = temporal.Destino.Split('*');
double f1 = Double.Parse(fin[0]);
double f2 = Double.Parse(fin[1]);
PointLatLng start = new PointLatLng(i1, i2);
PointLatLng end = new PointLatLng(f1, f2);
GMapMarker partida;
partida = new GMarkerGoogle(start, GMarkerGoogleType.red);
partida.ToolTipText = "Partida";
partida.ToolTipMode = MarkerTooltipMode.Always;
marcadores.Markers.Add(partida);
GMapMarker destino;
destino = new GMarkerGoogle(end, GMarkerGoogleType.red);
destino.ToolTipText = "Destino";
destino.ToolTipMode = MarkerTooltipMode.Always;
marcadores.Markers.Add(destino);
gMapRutas.Overlays.Add(marcadores);
gMapRutas.Refresh();
gMapRutas.ReloadMap();
}
else
{
if (temporal.Ruta == null)
{
generarRuta(temporal.Partida, temporal.Destino);
}
else
{
GMapRoute ruta = temporal.Ruta;
String[] inicio = temporal.Partida.Split('*');
double i1 = Double.Parse(inicio[0]);
double i2 = Double.Parse(inicio[1]);
string[] fin = temporal.Destino.Split('*');
double f1 = Double.Parse(fin[0]);
double f2 = Double.Parse(fin[1]);
PointLatLng start = new PointLatLng(i1, i2);
PointLatLng end = new PointLatLng(f1, f2);
GMapMarker partida;
partida = new GMarkerGoogle(start, GMarkerGoogleType.red);
partida.ToolTipText = "Partida";
partida.ToolTipMode = MarkerTooltipMode.Always;
marcadores.Markers.Add(partida);
GMapMarker destino;
destino = new GMarkerGoogle(end, GMarkerGoogleType.red);
destino.ToolTipText = "Destino";
destino.ToolTipMode = MarkerTooltipMode.Always;
marcadores.Markers.Add(destino);
marcadores.Routes.Add(ruta);
gMapRutas.Overlays.Add(marcadores);
gMapRutas.ZoomAndCenterRoute(ruta);
gMapRutas.ReloadMap();
}
}
}
public void importShapeCallback(string path, string layer, Color color)
{
Bitmap bitmap = null;
ShapeReader shape = new ShapeReader(path);
GMapOverlay overlay = new GMapOverlay(layer);
gMap.Overlays.Add(overlay);
shape.errorHandler += errorHandlerCallback;
shape.read();
ESRIShapeFile s = shape.getShape();
if (s.ShapeType == 3 || s.ShapeType == 13)
{
GMapRoute line_layer;
PolyLineZ[] polyLines = s.PolyLineZ;
foreach (PolyLineZ polyLine in polyLines)
{
PointLatLng[] points = polyLine.points;
line_layer = new GMapRoute(points, "lines"); //TODO get carriage number
line_layer.Stroke = new Pen(color, 1);
overlay.Routes.Add(line_layer);
}
}
else if (s.ShapeType == 1)
{
ShapeFile.Point[] points = s.Point;
bitmap = ColorTable.getBitmap(ColorTable.ColorCrossDict, color.Name, 4);
int id = 0;
foreach (ShapeFile.Point point in points)
{
PointLatLng pointLatLng = new PointLatLng(point.y, point.x);
MarkerTag tag = new MarkerTag(color.Name, id);
tag.Dictionary = ColorTable.ColorCrossDict;
GMapMarker marker = new GMarkerGoogle(pointLatLng, bitmap);
marker.Tag = tag;
overlay.Markers.Add(marker);
id++;
}
GMapMarker[] markersArr = overlay.Markers.ToArray <GMapMarker>();
mOverlayDict.Add(layer, markersArr);
}
else if (s.ShapeType == 8)
{
MultiPoint[] points = s.MultiPoint;
bitmap = ColorTable.getBitmap(ColorTable.ColorCrossDict, color.Name, 4);
int id = 0;
foreach (MultiPoint point in points)
{
PointLatLng[] pointsLatLng = point.points;
foreach (PointLatLng p in pointsLatLng)
{
MarkerTag tag = new MarkerTag(color.Name, id);
tag.Dictionary = ColorTable.ColorCrossDict;
GMapMarker marker = new GMarkerGoogle(p, bitmap);
marker.Tag = tag;
overlay.Markers.Add(marker);
id++;
}
}
GMapMarker[] markersArr = overlay.Markers.ToArray <GMapMarker>();
mOverlayDict.Add(layer, markersArr);
}
addListItem(ColorTable.ColorCrossDict, overlay, color.Name);
//if (bitmap != null)
//{
// imageList.Images.Add(bitmap);
//}
//ListViewItem layerItem = new ListViewItem(overlay.Id, layerCount);
//layerCount++;
//layerItem.Text = overlay.Id;
//layerItem.Checked = true;
//mOverlay = overlay;
//listLayers.SmallImageList = imageList;
//listLayers.Items.Add(layerItem);
////addListItem(ColorTable.ColorCrossDict, overlay, color.Name);
//overlay.IsVisibile = true;
//mOverlay.IsVisibile = true;
////shape.readDBF();
}
void DrawMap()
{
try
{
DateTime starttime = DateTime.MinValue;
DateTime workingtime = starttime;
DateTime lastdrawn = DateTime.MinValue;
List<PointLatLng> routelist = new List<PointLatLng>();
//zg1.GraphPane.GraphObjList.Clear();
foreach (var item in logdata)
{
if (item.msgtype == "GPS")
{
var ans = getPointLatLng(item);
if (ans.HasValue)
{
routelist.Add(ans.Value);
}
}
}
mapoverlay.Routes.Clear();
GMapRoute route = new GMapRoute(routelist, "route");
mapoverlay.Routes.Add(route);
myGMAP1.ZoomAndCenterRoute(route);
myGMAP1.RoutesEnabled = true;
}
catch (Exception ex) { log.Error(ex); }
}
private void MapControl_OnRouteClick(GMapRoute item, MouseEventArgs e)
{
CustomMessageBox.Show(createMessage(item.Tag), "Info", MessageBoxButtons.OK);
}
private void MapControl_OnRouteLeave(GMapRoute item)
{
item.Overlay.Markers.Remove(marker);
marker = null;
}
/// <summary>
/// Plot the series. This will remove all the old series. Then add the
/// new series lines.
/// </summary>
/// <param name="stData">Ship Track data.</param>
private void PlotMapData(List <ShipTrackData> stDataList)
{
// Init the value
double avgMag = 0.0;
double avgDir = 0.0;
// Keep Track of previous point to draw
// the ship track line
//LatLon prevLatLon = new LatLon { Latitude = 0.0, Longitude = 0.0, IsGood = false };
IList <PointLatLng> points = new List <PointLatLng>();
// Last point
ShipTrackData lastGoodShipTrack = null;
foreach (ShipTrackData stData in stDataList)
{
avgMag = stData.VelMagDir.AvgMagnitude;
avgDir = stData.VelMagDir.AvgDirectionYNorth;
LatLon currLatLon = stData.GetLatLon();
if (currLatLon.IsGood)
{
// Add the point to the route
points.Add(new PointLatLng(currLatLon.Latitude, currLatLon.Longitude));
// Convert the value to color from the color map
System.Windows.Media.SolidColorBrush brush = new System.Windows.Media.SolidColorBrush(ColorHM.GetColorForValue(avgMag, _MinValue, _MaxValue));
// Mark
GMapMarker marker = new GMapMarker(new GMap.NET.PointLatLng(currLatLon.Latitude, currLatLon.Longitude));
//System.Windows.Media.BrushConverter converter = new System.Windows.Media.BrushConverter();
if (_SelectedPlotOption == PLOT_OPTION_QUIVER)
{
// Degrees to radian
double angle = Math.PI * avgDir / 180.0;
marker.Shape = new Line
{
X1 = 0,
Y1 = 0,
X2 = (Math.Abs(avgMag) * MagScale) * Math.Cos(angle),
Y2 = -((Math.Abs(avgMag) * MagScale) * Math.Sin(angle)), // Flip the sign
StrokeThickness = 3,
Stroke = brush,
ToolTip = string.Format("[{0}] [{1}] Mag: {2} Dir: {3} Range: {4} Heading: {5}", stData.EnsNum, stData.DateTime, avgMag.ToString("0.0"), avgDir.ToString("0.0"), stData.AvgRange.ToString("0.0"), stData.Heading.ToString("0.0")),
Name = string.Format("Line_{0}", stData.EnsNum)
};
marker.ZIndex = (int)MapLayers.Quiver;
}
else if (_SelectedPlotOption == PLOT_OPTION_VELOCITY_RECTANGLE)
{
marker.Shape = new Rectangle
{
Width = 20 * MagScale,
Height = 20 * MagScale,
Fill = brush,
Stroke = new System.Windows.Media.SolidColorBrush(System.Windows.Media.Colors.Transparent),
ToolTip = string.Format("[{0}] [{1}] Mag: {2} Dir: {3} Range: {4} Heading: {5}", stData.EnsNum, stData.DateTime, avgMag.ToString("0.0"), avgDir.ToString("0.0"), stData.AvgRange.ToString("0.0"), stData.Heading.ToString("0.0")),
Name = string.Format("Rect_Vel_{0}", stData.EnsNum)
};
marker.ZIndex = (int)MapLayers.Velocity_Rectangle;
}
else if (_SelectedPlotOption == PLOT_OPTION_BT_RANGE)
{
// Convert the average Range to color from the color map
brush = new System.Windows.Media.SolidColorBrush(ColorHM.GetColorForValue(stData.AvgRange, _MinValue, _MaxValue));
marker.Shape = new Rectangle
{
Width = 20 * MagScale,
Height = 20 * MagScale,
Fill = brush,
Stroke = new System.Windows.Media.SolidColorBrush(System.Windows.Media.Colors.Transparent),
ToolTip = string.Format("[{0}] [{1}] Mag: {2} Dir: {3} Range: {4} Heading: {5}", stData.EnsNum, stData.DateTime, avgMag.ToString("0.0"), avgDir.ToString("0.0"), stData.AvgRange.ToString("0.0"), stData.Heading.ToString("0.0")),
Name = string.Format("Rect_Range_{0}", stData.EnsNum)
};
marker.ZIndex = (int)MapLayers.Range_Rectangle;
}
// Record the last point to get a special marker
lastGoodShipTrack = stData;
// Add the marker to the list
Markers.Add(marker);
}
}
// Plot the path that we taken
GMapRoute route = new GMapRoute(points);
System.Windows.Media.SolidColorBrush routeBrush = new System.Windows.Media.SolidColorBrush(System.Windows.Media.Colors.Red);
routeBrush.Opacity = 0.4;
route.Shape = new System.Windows.Shapes.Path()
{
StrokeThickness = 3, Stroke = routeBrush, Fill = routeBrush
};
route.ZIndex = (int)MapLayers.Ship_Track_Line;
Markers.Add(route);
// Add a marker for the last point to know which direction it traveled
if (lastGoodShipTrack != null)
{
LatLon lastLatLon = lastGoodShipTrack.GetLatLon();
if (lastLatLon.IsGood)
{
GMapMarker lastMarker = new GMapMarker(new GMap.NET.PointLatLng(lastLatLon.Latitude, lastLatLon.Longitude));
if (IsLastMarkerEllipse)
{
lastMarker.Shape = new Ellipse
{
//Points = trianglePts,
RenderTransform = new System.Windows.Media.TranslateTransform(-((1 * LastMarkerScale) / 2), -((1 * LastMarkerScale) / 2)),
Width = 1 * LastMarkerScale,
Height = 1 * LastMarkerScale,
Fill = new System.Windows.Media.SolidColorBrush(System.Windows.Media.Colors.Yellow),
Stroke = new System.Windows.Media.SolidColorBrush(System.Windows.Media.Colors.Red),
ToolTip = string.Format("[{0}] [{1}] Mag: {2} Dir: {3} Range: {4} Heading: {5}", lastGoodShipTrack.EnsNum, lastGoodShipTrack.DateTime, avgMag.ToString("0.0"), avgDir.ToString("0.0"), lastGoodShipTrack.AvgRange.ToString("0.0"), lastGoodShipTrack.Heading.ToString("0.0"))
};
}
else
{
System.Windows.Media.PointCollection trianglePts = new System.Windows.Media.PointCollection();
//trianglePts.Add(new Point(0.0, 1.0 * LastMarkerScale));
//trianglePts.Add(new Point(0.0, -1.0 * LastMarkerScale));
//trianglePts.Add(new Point(-1.0 * LastMarkerScale, 0.0));
trianglePts.Add(new Point(-1.0 * LastMarkerScale, 0.0));
trianglePts.Add(new Point(1.0 * LastMarkerScale, 0.0));
trianglePts.Add(new Point(0.0, -1.0 * LastMarkerScale));
lastMarker.Shape = new Polygon
{
Points = trianglePts,
RenderTransform = new System.Windows.Media.RotateTransform(lastGoodShipTrack.Heading),
Fill = new System.Windows.Media.SolidColorBrush(System.Windows.Media.Colors.Yellow),
Stroke = new System.Windows.Media.SolidColorBrush(System.Windows.Media.Colors.Red),
ToolTip = string.Format("[{0}] [{1}] Mag: {2} Dir: {3} Range: {4} Heading: {5}", lastGoodShipTrack.EnsNum, lastGoodShipTrack.DateTime, avgMag.ToString("0.0"), avgDir.ToString("0.0"), lastGoodShipTrack.AvgRange.ToString("0.0"), lastGoodShipTrack.Heading.ToString("0.0"))
};
}
// Set the zIndex so we can filter the layers
lastMarker.ZIndex = (int)MapLayers.Last_Point;
// Add the last point to the end
Markers.Add(lastMarker);
}
}
// Set the center position
Position = GetCenterPoint(Markers);
Zoom = 17;
}
private void MainMap_OnRouteEnter(GMapRoute item)
{
item.Stroke.Color = Color.Red;
}
private void MainMap_OnRouteLeave(GMapRoute item)
{
item.Stroke.Color = Color.MidnightBlue;
}
private void mainloop()
{
//System.Threading.Thread.CurrentThread.CurrentUICulture = new System.Globalization.CultureInfo("en-US");
//System.Threading.Thread.CurrentThread.CurrentCulture = new System.Globalization.CultureInfo("en-US");
threadrun = 1;
EndPoint Remote = (EndPoint)(new IPEndPoint(IPAddress.Any, 0));
DateTime lastdata = DateTime.MinValue;
DateTime tracklast = DateTime.Now.AddSeconds(0);
DateTime tunning = DateTime.Now.AddSeconds(0);
DateTime mapupdate = DateTime.Now.AddSeconds(0);
DateTime vidrec = DateTime.Now.AddSeconds(0);
DateTime waypoints = DateTime.Now.AddSeconds(0);
DateTime updatescreen = DateTime.Now;
DateTime tsreal = DateTime.Now;
//comPort.stopall(true);
while (threadrun == 1)
{
if (threadrun == 0) { return; }
if (MainV2.comPort.giveComport == true)
{
System.Threading.Thread.Sleep(50);
continue;
}
if (!MainV2.comPort.BaseStream.IsOpen)
{
lastdata = DateTime.Now;
continue;
}
// actauly read the packets
while (MainV2.comPort.BaseStream.BytesToRead > 0 && MainV2.comPort.giveComport == false)
{
try
{
MainV2.comPort.readPacket();
}
catch { }
}
// re-request servo data
if (!(lastdata.AddSeconds(8) > DateTime.Now) && MainV2.comPort.BaseStream.IsOpen)
{
//Console.WriteLine("REQ streams - flightdata");
try
{
//System.Threading.Thread.Sleep(1000);
//comPort.requestDatastream((byte)ArdupilotMega.MAVLink09.MAV_DATA_STREAM.RAW_CONTROLLER, 0); // request servoout
MainV2.comPort.requestDatastream(ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTENDED_STATUS, MainV2.comPort.MAV.cs.ratestatus); // mode
MainV2.comPort.requestDatastream(ArdupilotMega.MAVLink.MAV_DATA_STREAM.POSITION, MainV2.comPort.MAV.cs.rateposition); // request gps
MainV2.comPort.requestDatastream(ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTRA1, MainV2.comPort.MAV.cs.rateattitude); // request attitude
MainV2.comPort.requestDatastream(ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTRA2, MainV2.comPort.MAV.cs.rateattitude); // request vfr
MainV2.comPort.requestDatastream(ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTRA3, MainV2.comPort.MAV.cs.ratesensors); // request extra stuff - tridge
MainV2.comPort.requestDatastream(ArdupilotMega.MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.comPort.MAV.cs.ratesensors); // request raw sensor
MainV2.comPort.requestDatastream(ArdupilotMega.MAVLink.MAV_DATA_STREAM.RC_CHANNELS, MainV2.comPort.MAV.cs.raterc); // request rc info
}
catch { log.Error("Failed to request rates"); }
lastdata = DateTime.Now.AddSeconds(120); // prevent flooding
}
if (!MainV2.comPort.logreadmode)
System.Threading.Thread.Sleep(100); // max is only ever 10 hz
try
{
//Console.WriteLine(DateTime.Now.Millisecond);
updateBindingSource();
// Console.WriteLine(DateTime.Now.Millisecond + " done ");
// battery warning.
float warnvolt = 0;
float.TryParse(MainV2.getConfig("speechbatteryvolt"), out warnvolt);
float warnpercent = 0;
float.TryParse(MainV2.getConfig("speechbatterypercent"), out warnpercent);
if (ArdupilotMega.Controls.OpenGLtest.instance != null)
{
ArdupilotMega.Controls.OpenGLtest.instance.rpy = new OpenTK.Vector3(MainV2.comPort.MAV.cs.roll, MainV2.comPort.MAV.cs.pitch, MainV2.comPort.MAV.cs.yaw);
ArdupilotMega.Controls.OpenGLtest.instance.LocationCenter = new PointLatLngAlt(MainV2.comPort.MAV.cs.lat, MainV2.comPort.MAV.cs.lng, MainV2.comPort.MAV.cs.alt, "here");
}
if (tunning.AddMilliseconds(50) < DateTime.Now && CB_tuning.Checked == true)
{
double time = (Environment.TickCount - tickStart) / 1000.0;
if (list1item != null)
list1.Add(time, (float)list1item.GetValue((object)MainV2.comPort.MAV.cs, null));
if (list2item != null)
list2.Add(time, (float)list2item.GetValue((object)MainV2.comPort.MAV.cs, null));
if (list3item != null)
list3.Add(time, (float)list3item.GetValue((object)MainV2.comPort.MAV.cs, null));
if (list4item != null)
list4.Add(time, (float)list4item.GetValue((object)MainV2.comPort.MAV.cs, null));
if (list5item != null)
list5.Add(time, (float)list5item.GetValue((object)MainV2.comPort.MAV.cs, null));
if (list6item != null)
list6.Add(time, (float)list6item.GetValue((object)MainV2.comPort.MAV.cs, null));
if (list7item != null)
list7.Add(time, (float)list7item.GetValue((object)MainV2.comPort.MAV.cs, null));
if (list8item != null)
list8.Add(time, (float)list8item.GetValue((object)MainV2.comPort.MAV.cs, null));
if (list9item != null)
list9.Add(time, (float)list9item.GetValue((object)MainV2.comPort.MAV.cs, null));
if (list10item != null)
list10.Add(time, (float)list10item.GetValue((object)MainV2.comPort.MAV.cs, null));
}
if (tracklast.AddSeconds(1) < DateTime.Now)
{
if (MainV2.config["CHK_maprotation"] != null && MainV2.config["CHK_maprotation"].ToString() == "True")
{
// dont holdinvalidation here
setMapBearing();
}
if (route == null)
{
route = new GMapRoute(trackPoints, "track");
routes.Routes.Add(route);
}
PointLatLng currentloc = new PointLatLng(MainV2.comPort.MAV.cs.lat, MainV2.comPort.MAV.cs.lng);
gMapControl1.HoldInvalidation = true;
int cnt = 0;
while (gMapControl1.inOnPaint == true)
{
System.Threading.Thread.Sleep(1);
cnt++;
}
while (route.Points.Count > 200)
{
// trackPoints.RemoveRange(0, trackPoints.Count - int.Parse(MainV2.config["NUM_tracklength"].ToString()));
route.Points.RemoveAt(0);
}
if (MainV2.comPort.MAV.cs.lat != 0)
{
// trackPoints.Add(currentloc);
route.Points.Add(currentloc);
}
// if (CB_tuning.Checked == false) // draw if in view
{
while (gMapControl1.inOnPaint == true)
{
System.Threading.Thread.Sleep(1);
}
//route = new GMapRoute(route.Points, "track");
//track.Stroke = Pens.Red;
//route.Stroke = new Pen(Color.FromArgb(144, Color.Red));
//route.Stroke.Width = 5;
//route.Tag = "track";
//updateClearRoutes();
gMapControl1.UpdateRouteLocalPosition(route);
if (waypoints.AddSeconds(10) < DateTime.Now)
{
//Console.WriteLine("Doing FD WP's");
updateMissionRouteMarkers();
foreach (MAVLink.mavlink_mission_item_t plla in MainV2.comPort.MAV.wps.Values)
{
if (plla.x == 0 || plla.y == 0)
continue;
if (plla.command == (byte)MAVLink.MAV_CMD.DO_SET_ROI)
{
addpolygonmarkerred(plla.seq.ToString(), plla.y, plla.x, (int)plla.z, Color.Red, routes);
continue;
}
string tag = plla.seq.ToString();
if (plla.seq == 0 && plla.current != 2)
{
tag = "Home";
}
if (plla.current == 2)
{
continue;
}
addpolygonmarker(tag, plla.y, plla.x, (int)plla.z, Color.White, polygons);
}
RegeneratePolygon();
waypoints = DateTime.Now;
}
//routes.Polygons.Add(poly);
if (route.Points.Count > 0)
{
// add primary route icon
if (routes.Markers.Count != 1)
{
routes.Markers.Clear();
routes.Markers.Add(new GMapMarkerCross(currentloc));
}
if (MainV2.comPort.MAV.cs.mode.ToLower() == "guided" && MainV2.comPort.MAV.GuidedMode.x != 0)
{
addpolygonmarker("Guided Mode", MainV2.comPort.MAV.GuidedMode.y, MainV2.comPort.MAV.GuidedMode.x, (int)MainV2.comPort.MAV.GuidedMode.z, Color.Blue, routes);
}
if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduPlane || MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.Ateryx)
{
routes.Markers[0] = (new GMapMarkerPlane(currentloc, MainV2.comPort.MAV.cs.yaw, MainV2.comPort.MAV.cs.groundcourse, MainV2.comPort.MAV.cs.nav_bearing, MainV2.comPort.MAV.cs.target_bearing, gMapControl1)
{
ToolTipText = MainV2.comPort.MAV.cs.mode + "\n" + MainV2.comPort.MAV.cs.alt.ToString("alt 0") + "\n" + MainV2.comPort.MAV.cs.groundspeed.ToString("gs 0"),
ToolTipMode = MarkerTooltipMode.Always
});
}
else if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduRover)
{
routes.Markers[0] = (new GMapMarkerRover(currentloc, MainV2.comPort.MAV.cs.yaw, MainV2.comPort.MAV.cs.groundcourse, MainV2.comPort.MAV.cs.nav_bearing, MainV2.comPort.MAV.cs.target_bearing, gMapControl1));
}
else
{
routes.Markers[0] = (new GMapMarkerQuad(currentloc, MainV2.comPort.MAV.cs.yaw, MainV2.comPort.MAV.cs.groundcourse, MainV2.comPort.MAV.cs.nav_bearing)
{
ToolTipText = MainV2.comPort.MAV.cs.mode + "\n" + "alt " + MainV2.comPort.MAV.cs.alt.ToString("0") + "\ngs " + MainV2.comPort.MAV.cs.groundspeed.ToString("0"),
ToolTipMode = MarkerTooltipMode.Always
});
}
if (route.Points[route.Points.Count - 1].Lat != 0 && (mapupdate.AddSeconds(3) < DateTime.Now) && CHK_autopan.Checked)
{
updateMapPosition(currentloc);
mapupdate = DateTime.Now;
}
if (route.Points.Count == 1 && gMapControl1.Zoom == 3) // 3 is the default load zoom
{
updateMapPosition(currentloc);
updateMapZoom(17);
//gMapControl1.ZoomAndCenterMarkers("routes");// ZoomAndCenterRoutes("routes");
}
}
gMapControl1.HoldInvalidation = false;
gMapControl1.Invalidate();
}
tracklast = DateTime.Now;
}
}
catch (Exception ex) { Console.WriteLine("FD Main loop exception " + ex.ToString()); }
}
Console.WriteLine("FD Main loop exit");
}
public Form1()
{
InitializeComponent();
init_config();
//kay_chart = new kayChart(chart2, 20);
chart1.ChartAreas[0].CursorX.IsUserEnabled = true;
chart1.ChartAreas[0].CursorX.AutoScroll = true;
chart1.ChartAreas[0].AxisX.ScaleView.Zoomable = true;
chart1.ChartAreas[0].AxisX.ScrollBar.IsPositionedInside = true;
chart1.ChartAreas[0].AxisX.Maximum = X_RANGE;
chart1.ChartAreas[0].AxisX.Minimum = 0;
dictionary = new Dictionary <float, RootObject>();
dictionary_marker = new Dictionary <float, GMarkerGoogle>();
carId_to_chart_index_mapper = new Dictionary <float, int>();
carId_speed_mapper = new Dictionary <float, double>();
gmap.MapProvider = GMapProviders.GoogleChinaSatelliteMap;
//listBox1.ValueMember = "Key";
//listBox1.DisplayMember = "Value";
carId_speed_mapper.Add(100, 24);
//listBox1.DataSource = new BindingSource(carId_speed_mapper, null);
// Jervy gym RSU locaiton : 34.678986, -82.847704
// C1 parking lot locaiton : 34.671500, -82.830270
// R2 parking lot : 34.675912, -82.823168
// ADD rsu of Jervy Gym
GMapOverlay markersOverlay = new GMapOverlay("markers");
//PointLatLng point = new PointLatLng(34.678986, -82.847704);
//GMapMarker marker = new GMapPoint(point, 150);
//GMarkerGoogle marker = new GMarkerGoogle(new GMapPoint(point,10), new Bitmap(Properties.Resources.radio_station_2));
//GMarkerGoogle marker = new GMarkerGoogle(new PointLatLng(34.678986, -82.847704), new Bitmap(Properties.Resources.radio_station_2));
//GMarkerGoogle marker = new GMarkerGoogle(new PointLatLng(root.latitude, root.longitude), GMarkerGoogleType.green);
//markersOverlay.Markers.Add(marker);
// gmap.Overlays.Add(markersOverlay);
//marker.ToolTipMode = MarkerTooltipMode.Always;
Bitmap rsu_marker = new Bitmap(Properties.Resources.rsu_station_2);
GMarkerGoogle j1_marker = new GMarkerGoogle(new PointLatLng(34.678986, -82.847704), rsu_marker);
markersOverlay.Markers.Add(j1_marker);
gmap.Overlays.Add(markersOverlay);
//GMarkerGoogle marker = new GMarkerGoogle(new PointLatLng(root.latitude, root.longitude), GMarkerGoogleType.green);
GMarkerGoogle c1_rsu = new GMarkerGoogle(new PointLatLng(34.671500, -82.830270), rsu_marker);
markersOverlay.Markers.Add(c1_rsu);
gmap.Overlays.Add(markersOverlay);
c1_rsu.ToolTipMode = MarkerTooltipMode.Always;
GMarkerGoogle r1_rsu = new GMarkerGoogle(new PointLatLng(34.675912, -82.823168), rsu_marker);
markersOverlay.Markers.Add(r1_rsu);
gmap.Overlays.Add(markersOverlay);
r1_rsu.ToolTipMode = MarkerTooltipMode.Always;
PointLatLng p1 = new PointLatLng(34.681877, -82.847935);
PointLatLng p2 = new PointLatLng(34.670933, -82.835487);
//MapRoute route = GoogleMapProvider.Instance.GetRoute(start, end, false, false, 15);
MapRoute route = OpenStreetMapProvider.Instance.GetRoute(p1, p2, false, false, 15);
GMapRoute r1 = new GMapRoute(route.Points, "My route");
r1.Stroke.Width = 2;
r1.Stroke.Color = Color.Orange;
GMapOverlay routesOverlay1 = new GMapOverlay("routes");
routesOverlay1.Routes.Add(r1);
gmap.Overlays.Add(routesOverlay1);
PointLatLng p3 = new PointLatLng(34.678001, -82.818037);
//MapRoute route = GoogleMapProvider.Instance.GetRoute(start, end, false, false, 15);
MapRoute route2 = OpenStreetMapProvider.Instance.GetRoute(p2, p3, false, false, 15);
GMapRoute r2 = new GMapRoute(route2.Points, "My route2");
r2.Stroke.Width = 2;
r2.Stroke.Color = Color.Orange;
GMapOverlay routesOverlay2 = new GMapOverlay("routes");
routesOverlay2.Routes.Add(r2);
gmap.Overlays.Add(routesOverlay2);
//marker.ToolTipText = string.Format("RSU");
//data analytics part
chart1.Series.Clear();
//chart1.Series.Add("Car 2");
//chart1.Series[1].ChartType = System.Windows.Forms.DataVisualization.Charting.SeriesChartType.Spline;
}
/// <summary>
/// used to redraw the polygon
/// </summary>
void RegeneratePolygon()
{
List<PointLatLng> polygonPoints = new List<PointLatLng>();
if (routes == null)
return;
foreach (GMapMarker m in polygons.Markers)
{
if (m is GMapMarkerRect)
{
m.Tag = polygonPoints.Count;
polygonPoints.Add(m.Position);
}
}
if (polygonPoints.Count < 2)
return;
GMapRoute homeroute = new GMapRoute("homepath");
homeroute.Stroke = new Pen(Color.Yellow, 2);
homeroute.Stroke.DashStyle = DashStyle.Dash;
// add first point past home
homeroute.Points.Add(polygonPoints[1]);
// add home location
homeroute.Points.Add(polygonPoints[0]);
// add last point
homeroute.Points.Add(polygonPoints[polygonPoints.Count - 1]);
GMapRoute wppath = new GMapRoute("wp path");
wppath.Stroke = new Pen(Color.Yellow, 4);
wppath.Stroke.DashStyle = DashStyle.Custom;
for (int a = 1; a < polygonPoints.Count; a++)
{
wppath.Points.Add(polygonPoints[a]);
}
polygons.Routes.Add(homeroute);
polygons.Routes.Add(wppath);
}
void DrawMap()
{
int rtcnt = 0;
try
{
mapoverlay.Routes.Clear();
DateTime starttime = DateTime.MinValue;
DateTime workingtime = starttime;
DateTime lastdrawn = DateTime.MinValue;
List<PointLatLng> routelist = new List<PointLatLng>();
List<int> samplelist = new List<int>();
//zg1.GraphPane.GraphObjList.Clear();
//check if GPS data are available
if (!DFLog.logformat.ContainsKey("GPS"))
return;
int index = DFLog.FindMessageOffset("GPS", "Lat");
if (index == -1)
{
return;
}
int index2 = DFLog.FindMessageOffset("GPS", "Lng");
if (index2 == -1)
{
return;
}
int index3 = DFLog.FindMessageOffset("GPS", "Status");
if (index3 == -1)
{
return;
}
int i = 0;
int firstpoint = 0;
int b = 0;
foreach (var item2 in logdata)
{
b++;
var item = DFLog.GetDFItemFromLine(item2, b);
if (item.msgtype == "GPS")
{
var ans = getPointLatLng(item);
if (ans.HasValue)
{
routelist.Add(ans.Value);
samplelist.Add(i);
if (routelist.Count > 1000)
{
//split the route in several small parts (due to memory errors)
GMapRoute route_part = new GMapRoute(routelist, "route_" + rtcnt);
route_part.Stroke = new Pen(Color.FromArgb(127, Color.Blue), 2);
LogRouteInfo lri = new LogRouteInfo();
lri.firstpoint = firstpoint;
lri.lastpoint = i;
lri.samples.AddRange(samplelist);
route_part.Tag = lri;
route_part.IsHitTestVisible = true;
mapoverlay.Routes.Add(route_part);
rtcnt++;
//clear the list and set the last point as first point for the next route
routelist.Clear();
samplelist.Clear();
firstpoint = i;
samplelist.Add(firstpoint);
routelist.Add(ans.Value);
}
}
}
i++;
}
GMapRoute route = new GMapRoute(routelist, "route_" + rtcnt);
route.Stroke = new Pen(Color.FromArgb(127, Color.Blue), 2);
LogRouteInfo lri2 = new LogRouteInfo();
lri2.firstpoint = firstpoint;
lri2.lastpoint = i;
lri2.samples.AddRange(samplelist);
route.Tag = lri2;
route.IsHitTestVisible = true;
mapoverlay.Routes.Add(route);
rtcnt++;
myGMAP1.ZoomAndCenterRoute(route);
}
catch (Exception ex) { log.Error(ex); }
if (rtcnt > 0)
myGMAP1.RoutesEnabled = true;
}
// Map Operators
private void map_OnRouteEnter(GMapRoute item)
{
string dist;
if (DistUnits == "Feet")
{
dist = ((float)item.Distance * 3280.84f).ToString("0.##") + " ft";
}
else
{
dist = ((float)item.Distance * 1000f).ToString("0.##") + " m";
}
if (marker != null)
{
if (routesOverlay.Markers.Contains(marker))
routesOverlay.Markers.Remove(marker);
}
PointLatLng point = currentMousePosition;
marker = new GMapMarkerRect(point);
marker.ToolTip = new GMapToolTip(marker);
marker.ToolTipMode = MarkerTooltipMode.Always;
marker.ToolTipText = "Line: " + dist;
routesOverlay.Markers.Add(marker);
}
public mainForm()
{
InitializeComponent();
GPS_pos.Lat = 47.402489;
GPS_pos.Lng = 19.071558;
#region map_setup
// config map
MainMap.MinZoom = 1;
MainMap.MaxZoom = 20;
MainMap.CacheLocation = Path.GetDirectoryName(Application.ExecutablePath) + "/mapcache/";
mapProviders = new GMapProvider[6];
mapProviders[0] = GMapProviders.BingHybridMap;
mapProviders[1] = GMapProviders.BingSatelliteMap;
mapProviders[2] = GMapProviders.GoogleHybridMap;
mapProviders[3] = GMapProviders.GoogleSatelliteMap;
mapProviders[4] = GMapProviders.OviHybridMap;
mapProviders[5] = GMapProviders.OviSatelliteMap;
for (int i = 0; i < 6; i++)
{
cbMapProviders.Items.Add(mapProviders[i]);
}
cbMapProviders.SelectedIndex = 1;
// map events
MainMap.OnPositionChanged += new PositionChanged(MainMap_OnCurrentPositionChanged);
MainMap.OnMapZoomChanged += new MapZoomChanged(MainMap_OnMapZoomChanged);
MainMap.MouseMove += new MouseEventHandler(MainMap_MouseMove);
MainMap.MouseDown += new MouseEventHandler(MainMap_MouseDown);
MainMap.MouseUp += new MouseEventHandler(MainMap_MouseUp);
MainMap.OnMarkerEnter += new MarkerEnter(MainMap_OnMarkerEnter);
MainMap.OnMarkerLeave += new MarkerLeave(MainMap_OnMarkerLeave);
currentMarker = new GMapMarkerGoogleRed(MainMap.Position);
//MainMap.MapScaleInfoEnabled = true;
MainMap.ForceDoubleBuffer = true;
MainMap.Manager.Mode = AccessMode.ServerAndCache;
MainMap.Position = copterPos;
Pen penRoute = new Pen(Color.Yellow, 3);
Pen penScale = new Pen(Color.Blue, 3);
MainMap.ScalePen = penScale;
GMOverlayFlightPath = new GMapOverlay(MainMap, "flightpath");
MainMap.Overlays.Add(GMOverlayFlightPath);
GMOverlayWaypoints = new GMapOverlay(MainMap, "waypoints");
MainMap.Overlays.Add(GMOverlayWaypoints);
GMOverlayMission = new GMapOverlay(MainMap, "missionroute");
MainMap.Overlays.Add(GMOverlayMission);
GMOverlayLiveData = new GMapOverlay(MainMap, "livedata");
MainMap.Overlays.Add(GMOverlayLiveData);
m.Position = GPS_pos;
mBorders.Position = GPS_pos;
mBorders.InnerMarker = m;
mBorders.wprad = (int)float.Parse("5");
mBorders.MainMap = MainMap;
GMOverlayLiveData.Markers.Add(m);
GMOverlayLiveData.Markers.Add(mBorders);
GMRouteFlightPath = new GMapRoute(points, "flightpath");
GMRouteFlightPath.Stroke = penRoute;
GMOverlayFlightPath.Routes.Add(GMRouteFlightPath);
center = new GMapMarkerCross(MainMap.Position);
#endregion
}
private async void buttonSqlOk_Click(object sender, EventArgs e)
{
this.markerOverlay.Clear();
this.routesOverlay.Clear();
this.routes = new List <Route>();
List <Query> checkedQueries = checkedListBoxQueries.CheckedItems.Cast <Query>().ToList();
int rowCount = 0;
buttonSqlOk.Text = "Töltés...";
buttonSqlOk.Enabled = false;
await Task.Run(() =>
{
foreach (Query q in checkedQueries)
{
List <Location> location = new List <Location>();
try
{
location = sqlReader.readLocations(q.sql, textBoxQueryVariables.Text);
}
catch (Exception ex)
{
MessageBox.Show("Hiba történt a lekérdezés közben: " + ex.Message);
}
routes.Add(new Route
{
name = q.name,
query = new Query {
name = q.name, description = q.description, sql = q.sql, color = q.color
},
locations = location
});
rowCount += location.Count;
}
});
tabControlTables.TabPages.Clear();
try
{
foreach (Route r in routes)
{
DataGridView dataGridView = new DataGridView();
BindingSource source = new BindingSource();
dataGridView.DataSource = source;
dataGridView.Dock = DockStyle.Fill;
dataGridView.SelectionMode = DataGridViewSelectionMode.FullRowSelect;
dataGridView.EditMode = DataGridViewEditMode.EditProgrammatically;
dataGridView.CellClick += new DataGridViewCellEventHandler(this.dataGrid_CellClick);
dataGrids.Add(dataGridView);
TabPage tabPage = new TabPage(r.name);
tabPage.Controls.Add(dataGridView);
tabControlTables.TabPages.Add(tabPage);
foreach (Location l in r.locations)
{
source.Add(l);
}
}
labelQueryCount.Text = labelQueryCountText + rowCount.ToString();
buttonSqlOk.Text = "Mutat";
buttonSqlOk.Enabled = true;
if (radioButtonMarker.Checked)
{
foreach (Route r in this.routes)
{
Bitmap m = new Bitmap(10, 10);
Graphics g = Graphics.FromImage(m);
Color color = (Color)colorConverter.ConvertFromString(r.query.color);
Brush brush = new SolidBrush(color);
g.FillEllipse(brush, 0f, 0f, 10f, 10f);
foreach (Location l in r.locations)
{
if (l.accuracy > (double)numericUpDownMinAccuracy.Value)
{
continue;
}
Marker marker = new Marker(new PointLatLng(l.lat, l.lon), m, l.id, r);
markerOverlay.Markers.Add(marker);
}
}
}
else if (radioButtonLine.Checked)
{
foreach (Route r in this.routes)
{
List <List <PointLatLng> > pointsList = new List <List <PointLatLng> >();
int lastUserId = 0;
DateTime lastTimeStamp = new DateTime();
List <PointLatLng> points = new List <PointLatLng>();
pointsList.Add(points);
foreach (Location l in r.locations)
{
if (l.accuracy > (double)numericUpDownMinAccuracy.Value)
{
continue;
}
TimeSpan ts = Convert.ToDateTime(l.ts) - lastTimeStamp;
if (ts.TotalSeconds < 60.0 && lastUserId == l.userId)
{
points.Add(new PointLatLng(l.lat, l.lon));
}
else
{
points = new List <PointLatLng>();
pointsList.Add(points);
lastUserId = l.userId;
}
lastTimeStamp = Convert.ToDateTime(l.ts);
}
GMapRoute route;
foreach (List <PointLatLng> p in pointsList)
{
route = new GMapRoute(p, "myRoute");
route.Stroke = new Pen((Color)colorConverter.ConvertFromString(r.query.color), 2f);
markerOverlay.Routes.Add(route);
}
}
}
}
catch (OutOfMemoryException ex)
{
MessageBox.Show("A lekérdezés során elfogyott a rendelkezésre álló memória.");
}
}
public void AddLocation(double lat, double lng,float bearing)
{
var pt = new PointLatLng(lat, lng);
if (gpstrack.Count == 0)
{
gpstrack.Add(pt);
}
while (gpstrack.Count > TrackTrip/TrackGap)
{
gpstrack.RemoveAt(0);
}
if (CalcDistance(gpstrack[gpstrack.Count - 1], pt) > TrackGap)
{
gpstrack.Add(pt);
if (isTrackShow)
{
track.Routes.Clear();
GMapRoute gr = new GMapRoute(gpstrack, "Track");
track.Routes.Add(gr);
}
}
NodeMarker.Position = pt;
NodeMarker.Bearing = bearing;
if (AutoTrack.Checked)
MainMap.Position = pt;
CultureInfo ci = new CultureInfo("en-us");
string lngstr, latstr;
if (pt.Lng > 0)
lngstr = pt.Lng.ToString("F06") + " E";
else
lngstr = (-pt.Lng).ToString("F06") + " W";
if (pt.Lat > 0)
latstr = pt.Lat.ToString("F06") + " N";
else
latstr = (-pt.Lat).ToString("F06") + " S";
NodeMarker.ToolTipText = "GPS\r\n经度=" + lngstr + "\r\n纬度=" + latstr;
}
private void checkedListBox1_SelectedIndexChanged(object sender, EventArgs e)
{
int indice = checkedListBox1.SelectedIndex;
if (indice != -1)
{
if (checkedListBox1.GetItemChecked(0))
{
GMapRoute rutaPts = new GMapRoute(ruta2.puntos, "Ruta");
ruta2o.Routes.Add(rutaPts);
gMapControl1.Overlays.Add(ruta2o);
gMapControl1.Update();
gMapControl1.Zoom = gMapControl1.Zoom + 1;
gMapControl1.Zoom = gMapControl1.Zoom - 1;
simulacion = true;
}
else
{
gMapControl1.Overlays.Remove(ruta2o);
}
if (checkedListBox1.GetItemChecked(1))
{
GMapRoute rutaPts = new GMapRoute(ruta10.puntos, "Ruta");
ruta10o.Routes.Add(rutaPts);
gMapControl1.Overlays.Add(ruta10o);
gMapControl1.Update();
gMapControl1.Zoom = gMapControl1.Zoom + 1;
gMapControl1.Zoom = gMapControl1.Zoom - 1;
}
else
{
gMapControl1.Overlays.Remove(ruta10o);
gMapControl1.Update();
}
if (checkedListBox1.GetItemChecked(2))
{
GMapRoute rutaPts = new GMapRoute(ruta12.puntos, "Ruta");
ruta12o.Routes.Add(rutaPts);
gMapControl1.Overlays.Add(ruta12o);
gMapControl1.Update();
gMapControl1.Zoom = gMapControl1.Zoom + 1;
gMapControl1.Zoom = gMapControl1.Zoom - 1;
}
else
{
gMapControl1.Overlays.Remove(ruta12o);
gMapControl1.Update();
}
if (checkedListBox1.GetItemChecked(3))
{
GMapRoute rutaPts = new GMapRoute(ruta24.puntos, "Ruta");
ruta24o.Routes.Add(rutaPts);
gMapControl1.Overlays.Add(ruta24o);
gMapControl1.Update();
gMapControl1.Zoom = gMapControl1.Zoom + 1;
gMapControl1.Zoom = gMapControl1.Zoom - 1;
}
else
{
gMapControl1.Overlays.Remove(ruta24o);
gMapControl1.Update();
}
if (checkedListBox1.GetItemChecked(4))
{
GMapRoute rutaPts = new GMapRoute(ruta28.puntos, "Ruta");
ruta28o.Routes.Add(rutaPts);
gMapControl1.Overlays.Add(ruta28o);
gMapControl1.Update();
gMapControl1.Zoom = gMapControl1.Zoom + 1;
gMapControl1.Zoom = gMapControl1.Zoom - 1;
}
else
{
gMapControl1.Overlays.Remove(ruta28o);
gMapControl1.Update();
}
if (checkedListBox1.GetItemChecked(5))
{
GMapRoute rutaPts = new GMapRoute(ruta31.puntos, "Ruta");
ruta31o.Routes.Add(rutaPts);
gMapControl1.Overlays.Add(ruta31o);
gMapControl1.Update();
gMapControl1.Zoom = gMapControl1.Zoom + 1;
gMapControl1.Zoom = gMapControl1.Zoom - 1;
}
else
{
gMapControl1.Overlays.Remove(ruta31o);
gMapControl1.Update();
}
if (checkedListBox1.GetItemChecked(6))
{
GMapRoute rutaPts = new GMapRoute(ruta34.puntos, "Ruta");
ruta34o.Routes.Add(rutaPts);
gMapControl1.Overlays.Add(ruta34o);
gMapControl1.Update();
gMapControl1.Zoom = gMapControl1.Zoom + 1;
gMapControl1.Zoom = gMapControl1.Zoom - 1;
}
else
{
gMapControl1.Overlays.Remove(ruta34o);
gMapControl1.Update();
}
}
}
public void BuildgMap()
{
/*
* switch (index)
* {
* case 0:
* _mapcontrol.MapProvider = global::GMap.NET.MapProviders.BingSatelliteMapProvider.Instance;
* break;
* case 1:
* _mapcontrol.MapProvider = global::GMap.NET.MapProviders.GoogleMapProvider.Instance;
* break;
* case 2:
* _mapcontrol.MapProvider = global::GMap.NET.MapProviders.GoogleTerrainMapProvider.Instance;
* break;
* case 3:
* _mapcontrol.MapProvider = global::GMap.NET.MapProviders.GoogleHybridMapProvider.Instance;
* break;
* case 4:
* _mapcontrol.MapProvider = global::GMap.NET.MapProviders.ArcGIS_Topo_US_2D_MapProvider.Instance;
* break;
* case 5:
* _mapcontrol.MapProvider = global::GMap.NET.MapProviders.GoogleSatelliteMapProvider.Instance;
* break;
* }
*
*
*
* global::GMap.NET.GMaps.Instance.Mode = global::GMap.NET.AccessMode.ServerOnly;
*/
_markers.Clear();
_mapcontrol.Overlays.Clear();
//_mapcontrol.ShowCenter = false;
_overmarkers = new GMapOverlay("markers");
_overroutes = new GMapOverlay("routes");
_overpolys = new GMapOverlay("polygons");
_mapcontrol.Overlays.Add(_overmarkers);
_mapcontrol.Overlays.Add(_overroutes);
_mapcontrol.Overlays.Add(_overpolys);
_drone_image_notselected = (Bitmap)Image.FromFile("drone.png", true);
_drone_image_selected = (Bitmap)Image.FromFile("drone_selected.png", true);
// Map POI
int poicount = _wpg.POICount();
for (int i = 0; i < poicount; i++)
{
GMapMarker marker;
POIPoints pnt = _wpg.POIPointAt(i);
string poiname = pnt.name;
if (i == 0)
{
_mapcontrol.Position = new global::GMap.NET.PointLatLng(pnt.lat, pnt.lon);
}
if (pnt.selected)
{
marker = new GMarkerGoogle(new PointLatLng(pnt.lat, pnt.lon), _poi_selected_image);
}
else
{
marker = new GMarkerGoogle(new PointLatLng(pnt.lat, pnt.lon), _poi_image);
}
// GMarkerGoogleType.blue_pushpin);
//marker.Size = new Size(32, 32);
marker.Offset = new Point(-16, -16);
marker.ToolTipText = poiname;
marker.Tag = poiname;
marker.IsVisible = pnt.visible;
marker.IsHitTestVisible = true;
_overmarkers.Markers.Add(marker);
}
// Map Path
int pathcount = _wpg.PathCount();
for (int i = 0; i < pathcount; i++)
{
Path path = _wpg.PathAt(i);
string name = path.name;
bool visible = path.visible;
LinkedList <WayPoints> wplist = path.waypoints;
int wpcount = wplist.Count;
List <PointLatLng> points = new List <PointLatLng>();
int count = 0;
foreach (WayPoints wp in wplist)
{
bool selected = wp.selected;
points.Add(new PointLatLng(wp.lat, wp.lon));
GMapMarker marker;
if (selected)
{
_drone_image = _drone_image_selected;
_drone_image = RotateImage(_drone_image_selected, wp.head);
marker = new GMarkerGoogle(new PointLatLng(wp.lat, wp.lon), _drone_image);
//GMarkerGoogleType.red_pushpin);
}
else
{
_drone_image = _drone_image_notselected;
_drone_image = RotateImage(_drone_image_notselected, wp.head);
marker = new GMarkerGoogle(new PointLatLng(wp.lat, wp.lon), _drone_image);
//GMarkerGoogleType.blue_pushpin);
}
//marker.Size = new Size(64,64);
marker.Position = new PointLatLng(wp.lat, wp.lon);
marker.Offset = new Point(-16, -16);
marker.Tag = Convert.ToString(i) + "." + Convert.ToString(count);
marker.IsVisible = visible;
marker.ToolTipText = "WP(" + Convert.ToString(count) + ") - Alt:" + Convert.ToString(wp.alt);
_overmarkers.Markers.Add(marker);
wp.marker = marker;
GMAPWPMarker wpmarker = new GMAPWPMarker();
wpmarker.path = i;
wpmarker.wp = count;
wpmarker.marker = marker;
wpmarker.selected = wp.selected;
_markers.Add(wpmarker);
count++;
}
GMapRoute route = new GMapRoute(points, name);
route.Stroke = new Pen(Color.Blue, 2);
route.Tag = i;
route.IsVisible = visible;
route.IsHitTestVisible = true;
_overroutes.Routes.Add(route);
//mapcontrol.Overlays.Add(overroutes);
//mapcontrol.Overlays.Add(markers);
}
//mapcontrol.Overlays.Add(markers);
// Map Polygon
int polycount = _wpg.ShapeCount();
for (int i = 0; i < polycount; i++)
{
Shape polyshape = _wpg.ShapeAt(i);
string name = polyshape.name;
bool visible = polyshape.visible;
LinkedList <PolyPoint> wplist = polyshape.points;
int wpcount = wplist.Count;
List <PointLatLng> points = new List <PointLatLng>();
foreach (PolyPoint wp in wplist)
{
points.Add(new PointLatLng(wp.lat, wp.lon));
}
GMapPolygon poly = new GMapPolygon(points, name);
if (polyshape.selected)
{
poly.Stroke = new Pen(Color.Red, 1);
}
else
{
poly.Stroke = new Pen(Color.Yellow, 1);
}
poly.Fill = new SolidBrush(Color.FromArgb(25, Color.Yellow));
poly.Tag = polyshape.name;
poly.IsVisible = visible;
_overpolys.Polygons.Add(poly);
}
if (!Form1.Globals.Map_FirstDraw)
{
_mapcontrol.Position = Form1.Globals.map_center;
Form1.Globals.Map_FirstDraw = false;
}
_center = _mapcontrol.Position;
}
private void InitMap()
{
gMapCtrl.DragButton = MouseButton.Left;
gMapCtrl.Focus();
gMapCtrl.MapProvider = GMapProviders.GoogleMap;
PointLatLng startPoint = new PointLatLng(CurrTravel.Cities[0].Coord.latitude, CurrTravel.Cities[0].Coord.longitude);
gMapCtrl.Position = startPoint;
//Маркеры
foreach (City c in CurrTravel.GetRouteCts())
{
GMapMarker marker = new GMapMarker(new PointLatLng(c.Coord.latitude, c.Coord.longitude))
{
Shape = new Ellipse {
Stroke = new SolidColorBrush(Colors.DeepSkyBlue), StrokeThickness = 12
},
Offset = new Point(-6, -6),
ZIndex = 2
};
gMapCtrl.Markers.Add(marker);
}
//Путь
City prev = null;
foreach (City c in CurrTravel.GetRouteCts())
{
if (prev != null)
{
PointLatLng start = new PointLatLng(prev.Coord.latitude, prev.Coord.longitude);
PointLatLng end = new PointLatLng(c.Coord.latitude, c.Coord.longitude);
GMapRoute route = null;
MapRoute path = GMapProviders.OpenStreetMap.GetRoute(start, end, false, false, 15);
if (path != null && path.Distance > 1)
{
route = new GMapRoute(path.Points)
{
Shape = new Path()
{
Stroke = new SolidColorBrush(Colors.DarkViolet), StrokeThickness = 4, Opacity = 0.65
},
ZIndex = 1
};
}
else
{
route = new GMapRoute(new List <PointLatLng>()
{
start, end
})
{
Shape = new Path()
{
Stroke = new SolidColorBrush(Colors.Orange), StrokeThickness = 4, Opacity = 0.65
},
ZIndex = 0
};
}
gMapCtrl.Markers.Add(route);
}
prev = c;
}
//Прямые линии между точками
//GMapRoute route = new GMapRoute(path) {
// Shape = new Path() { Stroke = new SolidColorBrush(Colors.Orange), StrokeThickness = 4, },
// ZIndex = 0
//};
//gMapCtrl.Markers.Add(route)
//Ненужное
//GMapMarker marker = new GMapMarker(startPoint);
//marker.Shape = new Control();
//gMapCtrl.Markers.Add(marker);
//gMapCtrl.Markers[0].Shape.Visibility = Visibility.Visible;
//List<Point> locPath = new List<Point>();
//List<PointLatLng> path = new List<PointLatLng>();
//foreach (City c in CurrTravel.Cities) {
// path.Add(new PointLatLng(c.Coord.latitude, c.Coord.longitude));
// locPath.Add(new Point(c.Coord.latitude, c.Coord.longitude));
// gMapCtrl.Markers.Add(new GMapMarker(new PointLatLng(c.Coord.latitude, c.Coord.longitude)));
//}
//foreach (GMapMarker marker in gMapCtrl.Markers) {
// if (marker.Shape != null)
// marker.Shape.Visibility = Visibility.Visible;
//}
//MapRoute route = new MapRoute(path, "First");
//Path path2 = gMapCtrl.CreateRoutePath(locPath);
//path2.BeginInit();
//path2.ApplyTemplate();
//path2.BringIntoView();
//gMapCtrl.BringIntoView();
}
private void RenderPath()
{
GMapRoute path = new GMapRoute(lPointsPath, "Path");
PathOverlay.Clear();
PathOverlay.Routes.Add(path);
updateTable();
}
private void button4_Click(object sender, EventArgs e)
{
try
{
using (NpgsqlConnection cn = new NpgsqlConnection(Connection.str))
{
cn.Open();
//получение области
NpgsqlCommand cmd2 = new NpgsqlCommand("select ST_AsText((points).geom) from (select ST_DumpPoints(region_table.region) as points from region_table where region_table.reg_id=(select rental_table.region from rental_table where rental_table.rent_id=" + rentID + ")) as tmp", cn);
NpgsqlDataReader reader2 = cmd2.ExecuteReader();
DataTable dt2 = new DataTable();
dt2.Load(reader2);
List <PointLatLng> polyPoints = new List <PointLatLng>();
for (int i = 0; i < dt2.Rows.Count; i++)
{
double[] tempPoints2 = GetPoints(dt2.Rows[i][0].ToString());
polyPoints.Add(new PointLatLng(tempPoints2[0], tempPoints2[1]));
}
GMapPolygon polygon = new GMapPolygon(polyPoints, "polygon");
polygon.Fill = new SolidBrush(Color.FromArgb(50, Color.Red));
polygon.Stroke = new Pen(Color.Red, 1);
overlay.Polygons.Add(polygon);
//получение текущего положения автомобиля
NpgsqlCommand cmd1 = new NpgsqlCommand("select ST_AsText(point) from track_table where rent_id=" + rentID + " ORDER BY track_time DESC LIMIT 1", cn);
var temp = cmd1.ExecuteScalar();
if (temp == null)
{
throw new Exception("У этого автомобиля ещё нет трека.");
}
double[] points1 = GetPoints(temp.ToString());
GMapMarker location = new GMarkerGoogle(new PointLatLng(points1[0], points1[1]), GMarkerGoogleType.red);
location.ToolTipText = "Автомобиль здесь";
overlay.Markers.Add(location);
//получение трека
NpgsqlCommand cmd3 = new NpgsqlCommand("select ST_AsText(point) from track_table where rent_id=" + rentID, cn);
NpgsqlDataReader reader3 = cmd3.ExecuteReader();
DataTable dt3 = new DataTable();
dt3.Load(reader3);
List <PointLatLng> trackPoints = new List <PointLatLng>();
for (int i = 0; i < dt3.Rows.Count; i++)
{
double[] tempPoints3 = GetPoints(dt3.Rows[i][0].ToString());
trackPoints.Add(new PointLatLng(tempPoints3[0], tempPoints3[1]));
}
GMapRoute route = new GMapRoute(trackPoints, "route");
route.Stroke = new Pen(Color.Red, 3);
overlay.Routes.Add(route);
//получение длины трека
NpgsqlCommand cmd4 = new NpgsqlCommand("select ST_Length(ST_MakeLine(tmp.point ORDER BY tmp.track_time)) from (select * from track_table where rent_id=" + rentID + ") as tmp", cn);
string len = cmd4.ExecuteScalar().ToString();
len = len.Replace(".", ",");
DistanceLabel.Text = len + " км";
label1.Visible = true;
DistanceLabel.Visible = true;
cn.Close();
}
}
catch (Exception er)
{
MessageBox.Show(er.Message);
}
}
void DrawMap()
{
int a = 0;
DateTime starttime = DateTime.MinValue;
int startdelta = 0;
DateTime workingtime = starttime;
DateTime lastdrawn = DateTime.MinValue;
List<PointLatLng> routelist = new List<PointLatLng>();
//zg1.GraphPane.GraphObjList.Clear();
foreach (DataGridViewRow datarow in dataGridView1.Rows)
{
if (datarow.Cells[1].Value.ToString() == "GPS")
{
if (!logformat.ContainsKey("GPS"))
break;
int index = FindInArray(logformat["GPS"].FieldNames, "Lat");
if (index == -1)
{
a++;
continue;
}
int index2 = FindInArray(logformat["GPS"].FieldNames, "Lng");
if (index2 == -1)
{
a++;
continue;
}
int index3 = FindInArray(logformat["GPS"].FieldNames, "Status");
if (index3 == -1)
{
a++;
continue;
}
if (double.Parse(datarow.Cells[index3 + 2].Value.ToString()) != 3)
{
a++;
continue;
}
string lat = datarow.Cells[index+2].Value.ToString();
string lng = datarow.Cells[index2+2].Value.ToString();
PointLatLng pnt = new PointLatLng() { };
pnt.Lat = double.Parse(lat);
pnt.Lng = double.Parse(lng);
routelist.Add(pnt);
}
a++;
}
GMapRoute route = new GMapRoute(routelist,"route");
mapoverlay.Routes.Add(route);
myGMAP1.ZoomAndCenterRoute(route);
myGMAP1.RoutesEnabled = true;
}
void TreceRouteStart(object state)
{
//UcTraceRoute form = (state as UcTraceRoute);
//if (form.InvokeRequired)
// form.Invoke(new ParameterizedThreadStart(TreceRouteStart), state);
//else
//{
textBoxLog.Text = "";
route = null;
points.Clear();
routes.Routes.Clear();
traceMep.Overlays.Clear();
IpFromHost Host = new IpFromHost();
GeoDataByIPFromWeb Geo = new GeoDataByIPFromWeb();
Host.GetIpAddress(textBoxUrl.Text);
if (Host.HostState)
{
IpAddresesTraceRoute = GetTraceRoute(Host.NormHost);
GMapOverlay markersOverlay = new GMapOverlay("markers");
int index = 0;
foreach (var ip in IpAddresesTraceRoute)
{
Thread.Sleep(600);
index++;
GeoData GeoObj = Geo.GetData(ip.ToString());
textBoxLog.Text += "\r\n-->" + ip + " #" + index;
if (GeoObj.InnerData.GeoInfo.Latitude != null && GeoObj.InnerData.GeoInfo.Latitude != null)
{
textBoxLog.Text += "\r\n" + GeoObj.InnerData.GeoInfo.Latitude
+ "\r\n" + GeoObj.InnerData.GeoInfo.Longityde + "\r\n";
double lat = double.Parse(GeoObj.InnerData.GeoInfo.Latitude.Replace(".", ","));
double lng = double.Parse(GeoObj.InnerData.GeoInfo.Longityde.Replace(".", ","));
traceMep.Position = new PointLatLng(lat, lng);
bool ifUnique = true;
foreach (var point in markersOverlay.Markers)
{
if (point.Position.Lat == lat && point.Position.Lng == lng)
{
point.ToolTipText = ip + " #" + index + "\r\n" + point.ToolTipText;
ifUnique = false;
points.Add(new PointLatLng(lat, lng));
}
else
{
}
}
if (ifUnique)
{
points.Add(new PointLatLng(lat, lng));
GMarkerGoogle marker = new GMarkerGoogle
(
new PointLatLng(lat, lng),
//GMarkerGoogleType.orange
new Bitmap(@"none.png")
);
marker.ToolTipMode = MarkerTooltipMode.Always;
marker.ToolTipText = ip + " #" + index +
"\r\n" + GeoObj.InnerData.GeoInfo.CountryName +
"\r\n" + GeoObj.InnerData.GeoInfo.City +
"\r\n" + GeoObj.InnerData.GeoInfo.isp;
marker.ToolTip.Fill = Brushes.WhiteSmoke;
marker.ToolTip.Foreground = Brushes.Black;
marker.ToolTip.Stroke = Pens.Black;
marker.ToolTip.TextPadding = new Size(10, 10);
marker.ToolTip.Font = new Font("Arial", (float)7.5, FontStyle.Regular);
markersOverlay.Markers.Add(marker);
}
}
else
{
textBoxLog.Text += "\r\nno geo data\r\n";
}
route = new GMapRoute(points, "Route");
route.Stroke = new Pen(Color.Brown, 2);
routes.Routes.Add(route);
traceMep.Overlays.Add(routes);
traceMep.Overlays.Add(markersOverlay);
}
}
else
{
textBoxLog.Text = "Error! Invalid URL";
}
}
public void AddRoute(GMapRoute Route, Color RouteColor)
{
Route.Stroke = (Pen)route.Stroke.Clone();
Route.Stroke.Color = RouteColor;
gMapControl1.Overlays[0].Routes.Add(Route);
}
private void myGMAP1_OnRouteClick(GMapRoute item, MouseEventArgs e)
{
if ((item.Name != null) && (item.Name.StartsWith("route_")))
{
LogRouteInfo lri = item.Tag as LogRouteInfo;
if (lri != null)
{
//cerco il punto più vicino
MissionPlanner.Utilities.PointLatLngAlt pt2 = new MissionPlanner.Utilities.PointLatLngAlt(myGMAP1.FromLocalToLatLng(e.X, e.Y));
double dBest = double.MaxValue;
int nBest = 0;
for (int i = 0; i < item.LocalPoints.Count; i++)
{
PointLatLng pt = item.Points[i];
double d = Math.Sqrt((pt.Lat - pt2.Lat) * (pt.Lat - pt2.Lat) + (pt.Lng - pt2.Lng) * (pt.Lng - pt2.Lng));
if (d < dBest)
{
dBest = d;
nBest = i;
}
}
double perc = (double)nBest / (double) item.LocalPoints.Count;
int SampleID = (int)(lri.firstpoint + (lri.lastpoint - lri.firstpoint) * perc);
if ((lri.samples.Count > 0) && (nBest < lri.samples.Count))
SampleID = lri.samples[nBest];
GoToSample(SampleID, false, true, true);
//debugging route click
//GMapMarker pos2 = new GMarkerGoogle(pt2, GMarkerGoogleType.orange_dot);
//markeroverlay.Markers.Add(pos2);
}
}
}
void DrawMap()
{
try
{
int a = 0;
DateTime starttime = DateTime.MinValue;
int startdelta = 0;
DateTime workingtime = starttime;
DateTime lastdrawn = DateTime.MinValue;
List <PointLatLng> routelist = new List <PointLatLng>();
//zg1.GraphPane.GraphObjList.Clear();
foreach (DataGridViewRow datarow in dataGridView1.Rows)
{
if (datarow.Cells[1].Value.ToString() == "GPS")
{
if (!logformat.ContainsKey("GPS"))
{
break;
}
int index = FindInArray(logformat["GPS"].FieldNames, "Lat");
if (index == -1)
{
a++;
continue;
}
int index2 = FindInArray(logformat["GPS"].FieldNames, "Lng");
if (index2 == -1)
{
a++;
continue;
}
int index3 = FindInArray(logformat["GPS"].FieldNames, "Status");
if (index3 == -1)
{
a++;
continue;
}
try
{
if (double.Parse(datarow.Cells[index3 + 2].Value.ToString(), System.Globalization.CultureInfo.InvariantCulture) != 3)
{
a++;
continue;
}
string lat = datarow.Cells[index + 2].Value.ToString();
string lng = datarow.Cells[index2 + 2].Value.ToString();
PointLatLng pnt = new PointLatLng()
{
};
pnt.Lat = double.Parse(lat, System.Globalization.CultureInfo.InvariantCulture);
pnt.Lng = double.Parse(lng, System.Globalization.CultureInfo.InvariantCulture);
routelist.Add(pnt);
}
catch { }
}
a++;
}
GMapRoute route = new GMapRoute(routelist, "route");
mapoverlay.Routes.Add(route);
myGMAP1.ZoomAndCenterRoute(route);
myGMAP1.RoutesEnabled = true;
}
catch { }
}
public void DrawRoute()
{
List<PointLatLng> list = new List<PointLatLng>();
foreach (PointD p in points)
{
list.Add(new PointLatLng(p.getx(), p.gety()));
}
GMapRoute r = new GMapRoute(list, "my route");
r.Stroke.Width = 0.5f;
r.Stroke.Color = Color.Red;
overlayOne.Routes.Add(r);
}
private void buttonRouting_Click(object sender, EventArgs e)
{
if (!textBoxFrom.Text.Equals("") && !textBoxDestination.Text.Equals(""))
{
String nodeFromName = textBoxFrom.Text;
String nodeDestinationName = textBoxDestination.Text;
WayNodeModel mFrom = dbConnection.getWayNodeDataAttribute(nodeFromName);
WayNodeModel mDestination = dbConnection.getWayNodeDataAttribute(nodeDestinationName);
String lat1 = Convert.ToString(mFrom.getLatitude());
String lon1 = Convert.ToString(mFrom.getLongitude());
String lat2 = Convert.ToString(mDestination.getLatitude());
String lon2 = Convert.ToString(mDestination.getLongitude());
// create valid latitude & longitude type from database, ex : -69097867 to -6.9097867 and 1076106278 to 107.6106278
lat1 = lat1.Insert(2, ".");
lon1 = lon1.Insert(3, ".");
lat2 = lat2.Insert(2, ".");
lon2 = lon2.Insert(3, ".");
Console.WriteLine("Lat1:" + lat1 + " Lon1:" + lon1);
Console.WriteLine("Lat2:" + lat2 + " Lon2:" + lon2);
// add marker for source
GMapOverlay markersOverlayFrom = new GMapOverlay(mFrom.getWayName());
GMarkerGoogle markerFrom = new GMarkerGoogle(new PointLatLng(Convert.ToDouble(lat1), Convert.ToDouble(lon1)), GMarkerGoogleType.green);
markersOverlayFrom.Markers.Add(markerFrom);
gMapControl.Overlays.Add(markersOverlayFrom);
// add marker for destination
GMapOverlay markersOverlayDest = new GMapOverlay(mDestination.getWayName());
GMarkerGoogle markerDest = new GMarkerGoogle(new PointLatLng(Convert.ToDouble(lat2), Convert.ToDouble(lon2)), GMarkerGoogleType.red);
markersOverlayDest.Markers.Add(markerDest);
gMapControl.Overlays.Add(markersOverlayDest);
// getCenterMap from 2 location
PointLocation centerMapLocation = new PointLocation();
MapUtils mapUtil = new MapUtils();
centerMapLocation = mapUtil.calculateMidPointLocations(Convert.ToDouble(lat1), Convert.ToDouble(lon1), Convert.ToDouble(lat2), Convert.ToDouble(lon2));
double bearing = mapUtil.calculateBearing(Convert.ToDouble(lat1), Convert.ToDouble(lon1), Convert.ToDouble(lat2), Convert.ToDouble(lon2));
double distance = mapUtil.calculateDistanceKM(Convert.ToDouble(lat1), Convert.ToDouble(lon1), Convert.ToDouble(lat2), Convert.ToDouble(lon2));
Console.WriteLine("Lat3:" + centerMapLocation.getLatitude() + " Lon3:" + centerMapLocation.getLongitude());
Console.WriteLine("Bearing:" + bearing);
Console.WriteLine("Distance:" + distance);
Console.WriteLine("Pixel Distance:" + CentimeterToPixel(distance * 10));
// get route result
string jsonResultPath = getRoutePath(mFrom.getNodeId(), mDestination.getNodeId());
JObject results = JObject.Parse(jsonResultPath);
List <NodeModel> listNode = new List <NodeModel>();
foreach (var result in results["path"])
{
NodeModel node = new NodeModel();
string nodeId = (string)result["node_id"];
string lat = (string)result["latitude"];
string lon = (string)result["longitude"];
// create valid latitude & longitude type from database, ex : -69097867 to -6.9097867 and 1076106278 to 107.6106278
lat = lat.Insert(2, ".");
lon = lon.Insert(3, ".");
node.setNodeId(nodeId);
node.setLatitude(Convert.ToDouble(lat));
node.setLongitude(Convert.ToDouble(lon));
listNode.Add(node);
//Console.WriteLine("NodeId: {0}, Latitude: {1}, Longitude: {2}", nodeId, lat, lon);
}
// draw path
GMapOverlay routeOverlay = new GMapOverlay("path");
List <PointLatLng> points = new List <PointLatLng>();
// path point
for (int i = 0; i < listNode.Count; i++)
{
points.Add(new PointLatLng(listNode[i].getLatitude(), listNode[i].getLongitude()));
Console.WriteLine("NodeId: {0}, Latitude: {1}, Longitude: {2}", listNode[i].getNodeId(), listNode[i].getLatitude(), listNode[i].getLongitude());
}
// draw line
GMapRoute gRoute = new GMapRoute(points, "route");
gRoute.Stroke.Width = 7;
//gRoute.Stroke.Color = Color.SeaGreen;
//gRoute.Stroke = new Pen(Color.Blue, 7);
routeOverlay.Routes.Add(gRoute);
gMapControl.Overlays.Add(routeOverlay);
// show getCenterMap from 2 location
gMapControl.Position = new GMap.NET.PointLatLng(centerMapLocation.getLatitude(), centerMapLocation.getLongitude());
gMapControl.Zoom = 16;
int width = gMapControl.Width;
int height = gMapControl.Height;
Console.WriteLine("[MapControl] Width: " + width + " Height:" + height);
/*
* // AStar calculation
* AStar astar = new AStar();
* astar.calcuateShortestPath(mFrom.getNodeId(), mDestination.getNodeId());
*/
/*
* // test take 5 screenshots
* List<WayNodeModel> listWays = dbConnection.getWayNodeData();
* for(int i = 0; i < 5; i++){
* createMapTileScreenshots(listWays[i].getNodeId(), Convert.ToString(listWays[i].getLatitude()), Convert.ToString(listWays[i].getLongitude()));
* }*/
/*String pathScreenshots = System.IO.Path.GetDirectoryName(System.AppDomain.CurrentDomain.BaseDirectory) + Path.DirectorySeparatorChar + "screenshots" + Path.DirectorySeparatorChar;
* Console.WriteLine("Screenshots Path: " + pathScreenshots);
* try
* {
* // setting for proxy
* //PhantomJSOptions phOptions = new PhantomJSOptions();
* //phOptions.AddAdditionalCapability(CapabilityType.Proxy, "cache.itb.ac.id");
*
* // hide cmd windows of phantomsjs
* var driverService = PhantomJSDriverService.CreateDefaultService();
* driverService.HideCommandPromptWindow = true;
*
* // initiate phantomjs driver
* PhantomJSDriver phantom;
* phantom = new PhantomJSDriver(driverService);
* // setting the default timeout to 30 seconds
* phantom.Manage().Timeouts().ImplicitlyWait(new TimeSpan(0, 0, 30));
* string screenshotUrl = "http://localhost/bsts_routing/tilegen/v2/index.php?latitude=-6.9131786&longitude=107.6474137";
* phantom.Navigate().GoToUrl(screenshotUrl);
*
* // grab the snapshot
* Screenshot sh = phantom.GetScreenshot();
* sh.SaveAsFile(pathScreenshots + "test.png", ImageFormat.Png);
* phantom.Quit();
*
* } catch (Exception error) {
* Console.WriteLine(error.Message);
* }*/
}
else
{
MessageBox.Show("Please input address first!");
}
}
private static void processKML(SharpKml.Dom.Element Element)
{
try
{
// log.Info(Element.ToString() + " " + Element.Parent);
}
catch
{
}
SharpKml.Dom.Document doc = Element as SharpKml.Dom.Document;
SharpKml.Dom.Placemark pm = Element as SharpKml.Dom.Placemark;
SharpKml.Dom.Folder folder = Element as SharpKml.Dom.Folder;
SharpKml.Dom.Polygon polygon = Element as SharpKml.Dom.Polygon;
SharpKml.Dom.LineString ls = Element as SharpKml.Dom.LineString;
if (doc != null)
{
foreach (var feat in doc.Features)
{
//Console.WriteLine("feat " + feat.GetType());
//processKML((Element)feat);
}
}
else if (folder != null)
{
foreach (SharpKml.Dom.Feature feat in folder.Features)
{
//Console.WriteLine("feat "+feat.GetType());
//processKML(feat);
}
}
else if (pm != null)
{
}
else if (polygon != null)
{
GMapPolygon kmlpolygon = new GMapPolygon(new List<PointLatLng>(), "kmlpolygon");
kmlpolygon.Stroke.Color = Color.Purple;
kmlpolygon.Fill = new SolidBrush(Color.FromArgb(30, Color.Blue));
foreach (var loc in polygon.OuterBoundary.LinearRing.Coordinates)
{
kmlpolygon.Points.Add(new PointLatLng(loc.Latitude, loc.Longitude));
}
kmlpolygonsoverlay.Polygons.Add(kmlpolygon);
}
else if (ls != null)
{
GMapRoute kmlroute = new GMapRoute(new List<PointLatLng>(), "kmlroute");
kmlroute.Stroke.Color = Color.Purple;
foreach (var loc in ls.Coordinates)
{
kmlroute.Points.Add(new PointLatLng(loc.Latitude, loc.Longitude));
}
kmlpolygonsoverlay.Routes.Add(kmlroute);
}
}
private void BUT_doit_Click(object sender, EventArgs e)
{
string dirPictures = TXT_jpgdir.Text;
string logFilePath = TXT_logfile.Text;
if (!File.Exists(logFilePath))
{
return;
}
if (!Directory.Exists(dirPictures))
{
return;
}
float seconds = 0;
if (selectedProcessingMode == PROCESSING_MODE.TIME_OFFSET)
{
if (
float.TryParse(TXT_offsetseconds.Text, NumberStyles.Float, CultureInfo.InvariantCulture,
out seconds) ==
false)
{
AppendText("Offset number not in correct format. Use . as decimal separator\n");
return;
}
}
BUT_doit.Enabled = false;
TXT_outputlog.Clear();
try
{
log.Info("process " + selectedProcessingMode);
switch (selectedProcessingMode)
{
case PROCESSING_MODE.TIME_OFFSET:
georef.picturesInfo = georef.doworkGPSOFFSET(logFilePath, dirPictures, seconds, UseGpsorGPS2(),
chk_cammsg.Checked, AppendText);
if (georef.picturesInfo != null)
{
georef.CreateReportFiles(georef.picturesInfo, dirPictures, seconds,
(double)num_camerarotation.Value, (double)num_hfov.Value, (double)num_vfov.Value,
AppendText, httpGeoRefKML);
}
break;
case PROCESSING_MODE.CAM_MSG:
georef.picturesInfo = georef.doworkCAM(logFilePath, dirPictures, UseGpsorGPS2(), AppendText);
if (georef.picturesInfo != null)
{
georef.CreateReportFiles(georef.picturesInfo, dirPictures, seconds,
(double)num_camerarotation.Value, (double)num_hfov.Value, (double)num_vfov.Value,
AppendText, httpGeoRefKML, chk_camusegpsalt.Checked);
}
break;
case PROCESSING_MODE.TRIG:
georef.picturesInfo = georef.doworkTRIG(logFilePath, dirPictures, UseGpsorGPS2(), AppendText);
if (georef.picturesInfo != null)
{
georef.CreateReportFiles(georef.picturesInfo, dirPictures, seconds,
(double)num_camerarotation.Value, (double)num_hfov.Value, (double)num_vfov.Value,
AppendText, httpGeoRefKML, chk_trigusergpsalt.Checked);
}
break;
}
}
catch (Exception ex)
{
AppendText("Error " + ex.ToString());
}
log.Info("Draw to Map");
GMapRoute route = new GMapRoute("vehicle");
if (georef.vehicleLocations != null)
{
foreach (var vehicleLocation in georef.vehicleLocations)
{
route.Points.Add(new PointLatLngAlt(vehicleLocation.Value.Lat, vehicleLocation.Value.Lon,
vehicleLocation.Value.AltAMSL));
}
}
myGMAP1.Overlays[0].Markers.Clear();
if (georef.picturesInfo != null)
{
foreach (var pictureLocation in georef.picturesInfo)
{
myGMAP1.Overlays[0].Markers.Add(
new GMarkerGoogle(new PointLatLngAlt(pictureLocation.Value.Lat, pictureLocation.Value.Lon,
pictureLocation.Value.AltAMSL), GMarkerGoogleType.green)
{
IsHitTestVisible = true,
ToolTipMode = MarkerTooltipMode.OnMouseOver,
ToolTipText = Path.GetFileName(pictureLocation.Value.Path)
});
}
}
myGMAP1.Overlays[0].Routes.Clear();
myGMAP1.Overlays[0].Routes.Add(route);
myGMAP1.ZoomAndCenterRoutes(myGMAP1.Overlays[0].Id);
BUT_doit.Enabled = true;
BUT_Geotagimages.Enabled = true;
}
/// <summary>
/// Populates a <see cref="T:System.Runtime.Serialization.SerializationInfo"/> with the data needed to serialize the target object.
/// </summary>
/// <param name="info">The <see cref="T:System.Runtime.Serialization.SerializationInfo"/> to populate with data.</param>
/// <param name="context">The destination (see <see cref="T:System.Runtime.Serialization.StreamingContext"/>) for this serialization.</param>
/// <exception cref="T:System.Security.SecurityException">
/// The caller does not have the required permission.
/// </exception>
public void GetObjectData(SerializationInfo info, StreamingContext context)
{
info.AddValue("Id", this.Id);
info.AddValue("IsVisible", this.IsVisibile);
GMapMarker[] markerArray = new GMapMarker[this.Markers.Count];
this.Markers.CopyTo(markerArray, 0);
info.AddValue("Markers", markerArray);
GMapRoute[] routeArray = new GMapRoute[this.Routes.Count];
this.Routes.CopyTo(routeArray, 0);
info.AddValue("Routes", routeArray);
GMapPolygon[] polygonArray = new GMapPolygon[this.Polygons.Count];
this.Polygons.CopyTo(polygonArray, 0);
info.AddValue("Polygons", polygonArray);
}
internal void add(GMapRoute route)
{
mapOverlay.Routes.Add(route);
}
private void mainloop(object o)
{
//System.Threading.Thread.CurrentThread.CurrentUICulture = new System.Globalization.CultureInfo("en-US");
//System.Threading.Thread.CurrentThread.CurrentCulture = new System.Globalization.CultureInfo("en-US");
System.Threading.Thread.CurrentThread.IsBackground = true;
threadrun = 1;
EndPoint Remote = (EndPoint)(new IPEndPoint(IPAddress.Any, 0));
DateTime lastdata = DateTime.MinValue;
DateTime tracklast = DateTime.Now.AddSeconds(0);
DateTime tunning = DateTime.Now.AddSeconds(0);
DateTime mapupdate = DateTime.Now.AddSeconds(0);
DateTime vidrec = DateTime.Now.AddSeconds(0);
DateTime waypoints = DateTime.Now.AddSeconds(0);
DateTime updatescreen = DateTime.Now;
DateTime tsreal = DateTime.Now;
double taketime = 0;
double timeerror = 0;
//comPort.stopall(true);
while (threadrun == 1)
{
if (threadrun == 0) { return; }
if (MainV2.comPort.giveComport == true)
{
System.Threading.Thread.Sleep(50);
continue;
}
try
{
if (!MainV2.comPort.BaseStream.IsOpen)
lastdata = DateTime.Now;
}
catch { }
// re-request servo data
if (!(lastdata.AddSeconds(8) > DateTime.Now) && MainV2.comPort.BaseStream.IsOpen)
{
//Console.WriteLine("REQ streams - flightdata");
try
{
//System.Threading.Thread.Sleep(1000);
//comPort.requestDatastream((byte)MissionPlanner.MAVLink09.MAV_DATA_STREAM.RAW_CONTROLLER, 0); // request servoout
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.EXTENDED_STATUS, MainV2.comPort.MAV.cs.ratestatus); // mode
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.POSITION, MainV2.comPort.MAV.cs.rateposition); // request gps
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.EXTRA1, MainV2.comPort.MAV.cs.rateattitude); // request attitude
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.EXTRA2, MainV2.comPort.MAV.cs.rateattitude); // request vfr
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.EXTRA3, MainV2.comPort.MAV.cs.ratesensors); // request extra stuff - tridge
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.comPort.MAV.cs.ratesensors); // request raw sensor
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.RC_CHANNELS, MainV2.comPort.MAV.cs.raterc); // request rc info
}
catch { log.Error("Failed to request rates"); }
lastdata = DateTime.Now.AddSeconds(60); // prevent flooding
}
if (!MainV2.comPort.logreadmode)
System.Threading.Thread.Sleep(50); // max is only ever 10 hz but we go a little faster to empty the serial queue
try
{
if (aviwriter != null && vidrec.AddMilliseconds(100) <= DateTime.Now)
{
vidrec = DateTime.Now;
hud1.streamjpgenable = true;
//aviwriter.avi_start("test.avi");
// add a frame
aviwriter.avi_add(hud1.streamjpg.ToArray(), (uint)hud1.streamjpg.Length);
// write header - so even partial files will play
aviwriter.avi_end(hud1.Width, hud1.Height, 10);
}
}
catch { log.Error("Failed to write avi"); }
// log playback
if (MainV2.comPort.logreadmode && MainV2.comPort.logplaybackfile != null)
{
if (threadrun == 0) { return; }
if (MainV2.comPort.BaseStream.IsOpen)
{
MainV2.comPort.logreadmode = false;
try
{
MainV2.comPort.logplaybackfile.Close();
}
catch { log.Error("Failed to close logfile"); }
MainV2.comPort.logplaybackfile = null;
}
//Console.WriteLine(DateTime.Now.Millisecond);
if (updatescreen.AddMilliseconds(300) < DateTime.Now)
{
try
{
updatePlayPauseButton(true);
updateLogPlayPosition();
}
catch { log.Error("Failed to update log playback pos"); }
updatescreen = DateTime.Now;
}
//Console.WriteLine(DateTime.Now.Millisecond + " done ");
DateTime logplayback = MainV2.comPort.lastlogread;
try
{
MainV2.comPort.readPacket();
}
catch { log.Error("Failed to read log packet"); }
double act = (MainV2.comPort.lastlogread - logplayback).TotalMilliseconds;
if (act > 9999 || act < 0)
act = 0;
double ts = 0;
if (LogPlayBackSpeed == 0)
LogPlayBackSpeed = 0.01;
try
{
ts = Math.Min((act / LogPlayBackSpeed), 1000);
}
catch { }
double timetook = (DateTime.Now - tsreal).TotalMilliseconds;
if (timetook != 0)
{
//Console.WriteLine("took: " + timetook + "=" + taketime + " " + (taketime - timetook) + " " + ts);
//Console.WriteLine(MainV2.comPort.lastlogread.Second + " " + DateTime.Now.Second + " " + (MainV2.comPort.lastlogread.Second - DateTime.Now.Second));
//if ((taketime - timetook) < 0)
{
timeerror += (taketime - timetook);
if (ts != 0)
{
ts += timeerror;
timeerror = 0;
}
}
if (ts > 1000)
ts = 1000;
}
taketime = ts;
tsreal = DateTime.Now;
if (ts > 0 && ts < 1000)
System.Threading.Thread.Sleep((int)ts);
if (threadrun == 0) { return; }
tracklast = tracklast.AddMilliseconds(ts - act);
tunning = tunning.AddMilliseconds(ts - act);
if (tracklast.Month != DateTime.Now.Month)
{
tracklast = DateTime.Now;
tunning = DateTime.Now;
}
try
{
if (MainV2.comPort.logplaybackfile != null && MainV2.comPort.logplaybackfile.BaseStream.Position == MainV2.comPort.logplaybackfile.BaseStream.Length)
{
MainV2.comPort.logreadmode = false;
}
}
catch { MainV2.comPort.logreadmode = false; }
}
else
{
// ensure we know to stop
if (MainV2.comPort.logreadmode)
MainV2.comPort.logreadmode = false;
updatePlayPauseButton(false);
if (!playingLog && MainV2.comPort.logplaybackfile != null)
{
continue;
}
}
try
{
//Console.WriteLine(DateTime.Now.Millisecond);
//int fixme;
updateBindingSource();
// Console.WriteLine(DateTime.Now.Millisecond + " done ");
// battery warning.
float warnvolt = 0;
float.TryParse(MainV2.getConfig("speechbatteryvolt"), out warnvolt);
float warnpercent = 0;
float.TryParse(MainV2.getConfig("speechbatterypercent"), out warnpercent);
if (MainV2.comPort.MAV.cs.battery_voltage <= warnvolt)
{
hud1.lowvoltagealert = true;
}
else if ((MainV2.comPort.MAV.cs.battery_remaining) < warnpercent)
{
hud1.lowvoltagealert = true;
}
else
{
hud1.lowvoltagealert = false;
}
// update opengltest
if (OpenGLtest.instance != null)
{
OpenGLtest.instance.rpy = new OpenTK.Vector3(MainV2.comPort.MAV.cs.roll, MainV2.comPort.MAV.cs.pitch, MainV2.comPort.MAV.cs.yaw);
OpenGLtest.instance.LocationCenter = new PointLatLngAlt(MainV2.comPort.MAV.cs.lat, MainV2.comPort.MAV.cs.lng, MainV2.comPort.MAV.cs.alt, "here");
}
// update vario info
MissionPlanner.Utilities.Vario.SetValue(MainV2.comPort.MAV.cs.climbrate);
// udpate tunning tab
if (tunning.AddMilliseconds(50) < DateTime.Now && CB_tuning.Checked == true)
{
double time = (Environment.TickCount - tickStart) / 1000.0;
if (list1item != null)
list1.Add(time, (float)list1item.GetValue((object)MainV2.comPort.MAV.cs, null));
if (list2item != null)
list2.Add(time, (float)list2item.GetValue((object)MainV2.comPort.MAV.cs, null));
if (list3item != null)
list3.Add(time, (float)list3item.GetValue((object)MainV2.comPort.MAV.cs, null));
if (list4item != null)
list4.Add(time, (float)list4item.GetValue((object)MainV2.comPort.MAV.cs, null));
if (list5item != null)
list5.Add(time, (float)list5item.GetValue((object)MainV2.comPort.MAV.cs, null));
if (list6item != null)
list6.Add(time, (float)list6item.GetValue((object)MainV2.comPort.MAV.cs, null));
if (list7item != null)
list7.Add(time, (float)list7item.GetValue((object)MainV2.comPort.MAV.cs, null));
if (list8item != null)
list8.Add(time, (float)list8item.GetValue((object)MainV2.comPort.MAV.cs, null));
if (list9item != null)
list9.Add(time, (float)list9item.GetValue((object)MainV2.comPort.MAV.cs, null));
if (list10item != null)
list10.Add(time, (float)list10item.GetValue((object)MainV2.comPort.MAV.cs, null));
}
// update map
if (tracklast.AddSeconds(1.2) < DateTime.Now && gMapControl1.Visible)
{
if (MainV2.config["CHK_maprotation"] != null && MainV2.config["CHK_maprotation"].ToString() == "True")
{
// dont holdinvalidation here
setMapBearing();
}
if (route == null)
{
route = new GMapRoute(trackPoints, "track");
routes.Routes.Add(route);
}
PointLatLng currentloc = new PointLatLng(MainV2.comPort.MAV.cs.lat, MainV2.comPort.MAV.cs.lng);
gMapControl1.HoldInvalidation = true;
int cnt = 0;
while (gMapControl1.inOnPaint == true)
{
System.Threading.Thread.Sleep(1);
cnt++;
}
// maintain route history length
if (route.Points.Count > int.Parse(MainV2.config["NUM_tracklength"].ToString()))
{
// trackPoints.RemoveRange(0, trackPoints.Count - int.Parse(MainV2.config["NUM_tracklength"].ToString()));
route.Points.RemoveRange(0, route.Points.Count - int.Parse(MainV2.config["NUM_tracklength"].ToString()));
}
// add new route point
if (MainV2.comPort.MAV.cs.lat != 0)
{
// trackPoints.Add(currentloc);
route.Points.Add(currentloc);
}
{
while (gMapControl1.inOnPaint == true)
{
System.Threading.Thread.Sleep(1);
cnt++;
}
//route = new GMapRoute(route.Points, "track");
//track.Stroke = Pens.Red;
//route.Stroke = new Pen(Color.FromArgb(144, Color.Red));
//route.Stroke.Width = 5;
//route.Tag = "track";
//updateClearRoutes();
gMapControl1.UpdateRouteLocalPosition(route);
// update programed wp course
if (waypoints.AddSeconds(5) < DateTime.Now)
{
//Console.WriteLine("Doing FD WP's");
updateClearMissionRouteMarkers();
foreach (MAVLink.mavlink_mission_item_t plla in MainV2.comPort.MAV.wps.Values)
{
if (plla.x == 0 || plla.y == 0)
continue;
if (plla.command == (byte)MAVLink.MAV_CMD.DO_SET_ROI)
{
addpolygonmarkerred(plla.seq.ToString(), plla.y, plla.x, (int)plla.z, Color.Red, routes);
continue;
}
string tag = plla.seq.ToString();
if (plla.seq == 0 && plla.current != 2)
{
tag = "Home";
}
if (plla.current == 2)
{
continue;
}
addpolygonmarker(tag, plla.y, plla.x, (int)plla.z, Color.White, polygons);
}
RegeneratePolygon();
// update rally points
rallypointoverlay.Markers.Clear();
foreach (var mark in MainV2.comPort.MAV.rallypoints.Values)
{
rallypointoverlay.Markers.Add(new GMapMarkerRallyPt(mark));
}
waypoints = DateTime.Now;
}
//routes.Polygons.Add(poly);
if (route.Points.Count > 0)
{
// add primary route icon
if (routes.Markers.Count != 1)
{
routes.Markers.Clear();
routes.Markers.Add(new GMarkerGoogle(currentloc, GMarkerGoogleType.none));
}
if (MainV2.comPort.MAV.cs.mode.ToLower() == "guided" && MainV2.comPort.MAV.GuidedMode.x != 0)
{
addpolygonmarker("Guided Mode", MainV2.comPort.MAV.GuidedMode.y, MainV2.comPort.MAV.GuidedMode.x, (int)MainV2.comPort.MAV.GuidedMode.z, Color.Blue, routes);
}
if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduPlane || MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.Ateryx)
{
routes.Markers[0] = (new GMapMarkerPlane(currentloc, MainV2.comPort.MAV.cs.yaw, MainV2.comPort.MAV.cs.groundcourse, MainV2.comPort.MAV.cs.nav_bearing, MainV2.comPort.MAV.cs.target_bearing) { ToolTipText = MainV2.comPort.MAV.cs.alt.ToString("0"), ToolTipMode = MarkerTooltipMode.Always });
}
else if (MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduRover)
{
routes.Markers[0] = (new GMapMarkerRover(currentloc, MainV2.comPort.MAV.cs.yaw, MainV2.comPort.MAV.cs.groundcourse, MainV2.comPort.MAV.cs.nav_bearing, MainV2.comPort.MAV.cs.target_bearing));
}
else
{
routes.Markers[0] = (new GMapMarkerQuad(currentloc, MainV2.comPort.MAV.cs.yaw, MainV2.comPort.MAV.cs.groundcourse, MainV2.comPort.MAV.cs.nav_bearing));
}
// add extra mavs
int a = 1;
foreach (var port in MainV2.Comports)
{
if (port == MainV2.comPort)
continue;
PointLatLng portlocation = new PointLatLng(port.MAV.cs.lat, port.MAV.cs.lng);
while (routes.Markers.Count < (a + 1))
routes.Markers.Add(new GMarkerGoogle(portlocation, GMarkerGoogleType.none));
if (port.MAV.cs.firmware == MainV2.Firmwares.ArduPlane || MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.Ateryx)
{
routes.Markers[a] = (new GMapMarkerPlane(portlocation, port.MAV.cs.yaw, port.MAV.cs.groundcourse, port.MAV.cs.nav_bearing, port.MAV.cs.target_bearing) { ToolTipText = "MAV: " + a + " " + port.MAV.cs.alt.ToString("0"), ToolTipMode = MarkerTooltipMode.Always });
}
else if (port.MAV.cs.firmware == MainV2.Firmwares.ArduRover)
{
routes.Markers[a] = (new GMapMarkerRover(portlocation, port.MAV.cs.yaw, port.MAV.cs.groundcourse, port.MAV.cs.nav_bearing, port.MAV.cs.target_bearing));
}
else
{
routes.Markers[a] = (new GMapMarkerQuad(portlocation, port.MAV.cs.yaw, port.MAV.cs.groundcourse, port.MAV.cs.nav_bearing));
}
a++;
}
if (route.Points[route.Points.Count - 1].Lat != 0 && (mapupdate.AddSeconds(3) < DateTime.Now) && CHK_autopan.Checked)
{
updateMapPosition(currentloc);
mapupdate = DateTime.Now;
}
if (route.Points.Count == 1 && gMapControl1.Zoom == 3) // 3 is the default load zoom
{
updateMapPosition(currentloc);
updateMapZoom(17);
//gMapControl1.ZoomAndCenterMarkers("routes");// ZoomAndCenterRoutes("routes");
}
}
// add this after the mav icons are drawn
if (MainV2.comPort.MAV.cs.MovingBase != null)
{
routes.Markers.Add(new GMarkerGoogle(currentloc, GMarkerGoogleType.blue_dot) { Position = MainV2.comPort.MAV.cs.MovingBase, ToolTipText = "Moving Base", ToolTipMode = MarkerTooltipMode.OnMouseOver });
}
gMapControl1.HoldInvalidation = false;
gMapControl1.Invalidate();
}
tracklast = DateTime.Now;
}
}
catch (Exception ex) { Console.WriteLine("FD Main loop exception " + ex.ToString()); }
}
Console.WriteLine("FD Main loop exit");
}
private void frmMapView_Load(object sender, EventArgs e)
{
try
{
RestoreWindowLocation();
//MapView myOSMMap = new MapView();
myOSMMap._myMap = gMapControl2;
//Get route data table
myOSMMap._oldRideData = Form1.dtOldRide;
//Correction table from form1
myOSMMap._cps = Form1.cps;
// Test LatLng = New York
myOSMMap._initLatLng = new PointLatLng(40.730610, -73.935242);
// Get route begin and set it as map center
double myLat = (double)myOSMMap._oldRideData.Rows[0][6];
double myLng = (double)myOSMMap._oldRideData.Rows[0][7];
myOSMMap._initLatLng = new PointLatLng(myLat, myLng);
myOSMMap._mapZoom = 17;
myOSMMap.SetMapDefaults();
//Add route overlay
GMapOverlay routes = new GMapOverlay("routes");
//Add markers overlay
GMapOverlay markers = new GMapOverlay("markers");
myOSMMap._markers = markers;
//Add axis for altitude chart
List <double> AltitideXAxis = new List <double>();
myOSMMap._altDataX = AltitideXAxis;
List <double> AltitideYAxis = new List <double>();
myOSMMap._altDataY = AltitideYAxis;
GMapRoute route = new GMapRoute(myOSMMap.CreateFullRoute(), "GC route");
route.Stroke = new Pen(Color.Red, 3);
routes.Routes.Add(route);
gMapControl2.Overlays.Add(routes);
//Add markers to map
gMapControl2.Overlays.Add(markers);
//Add selected markers to map
myOSMMap._selectedMarkers = selectedMarkers;
myOSMMap.AddSelectedMarkersToMap();
//Add selected Markers overlay
gMapControl2.Overlays.Add(selectedMarkers);
gMapControl2.Refresh();
//Add Altitude chart
formsPlot1.plt.PlotScatter(AltitideXAxis.ToArray(), AltitideYAxis.ToArray());
formsPlot1.Render();
}
catch (Exception)
{
throw;
}
}
private void mainloop()
{
threadrun = true;
EndPoint Remote = new IPEndPoint(IPAddress.Any, 0);
DateTime tracklast = DateTime.Now.AddSeconds(0);
DateTime tunning = DateTime.Now.AddSeconds(0);
DateTime mapupdate = DateTime.Now.AddSeconds(0);
DateTime vidrec = DateTime.Now.AddSeconds(0);
DateTime waypoints = DateTime.Now.AddSeconds(0);
DateTime updatescreen = DateTime.Now;
DateTime tsreal = DateTime.Now;
double taketime = 0;
double timeerror = 0;
while (!IsHandleCreated)
Thread.Sleep(100);
while (threadrun)
{
if (MainV2.comPort.giveComport)
{
Thread.Sleep(50);
updateBindingSource();
continue;
}
if (!MainV2.comPort.logreadmode)
Thread.Sleep(50); // max is only ever 10 hz but we go a little faster to empty the serial queue
try
{
if (aviwriter != null && vidrec.AddMilliseconds(100) <= DateTime.Now)
{
vidrec = DateTime.Now;
hud1.streamjpgenable = true;
//aviwriter.avi_start("test.avi");
// add a frame
aviwriter.avi_add(hud1.streamjpg.ToArray(), (uint) hud1.streamjpg.Length);
// write header - so even partial files will play
aviwriter.avi_end(hud1.Width, hud1.Height, 10);
}
}
catch
{
log.Error("Failed to write avi");
}
// log playback
if (MainV2.comPort.logreadmode && MainV2.comPort.logplaybackfile != null)
{
if (MainV2.comPort.BaseStream.IsOpen)
{
MainV2.comPort.logreadmode = false;
try
{
MainV2.comPort.logplaybackfile.Close();
}
catch
{
log.Error("Failed to close logfile");
}
MainV2.comPort.logplaybackfile = null;
}
//Console.WriteLine(DateTime.Now.Millisecond);
if (updatescreen.AddMilliseconds(300) < DateTime.Now)
{
try
{
updatePlayPauseButton(true);
updateLogPlayPosition();
}
catch
{
log.Error("Failed to update log playback pos");
}
updatescreen = DateTime.Now;
}
//Console.WriteLine(DateTime.Now.Millisecond + " done ");
DateTime logplayback = MainV2.comPort.lastlogread;
try
{
if (!MainV2.comPort.giveComport)
MainV2.comPort.readPacket();
}
catch
{
log.Error("Failed to read log packet");
}
double act = (MainV2.comPort.lastlogread - logplayback).TotalMilliseconds;
if (act > 9999 || act < 0)
act = 0;
double ts = 0;
if (LogPlayBackSpeed == 0)
LogPlayBackSpeed = 0.01;
try
{
ts = Math.Min((act/LogPlayBackSpeed), 1000);
}
catch
{
}
double timetook = (DateTime.Now - tsreal).TotalMilliseconds;
if (timetook != 0)
{
//Console.WriteLine("took: " + timetook + "=" + taketime + " " + (taketime - timetook) + " " + ts);
//Console.WriteLine(MainV2.comPort.lastlogread.Second + " " + DateTime.Now.Second + " " + (MainV2.comPort.lastlogread.Second - DateTime.Now.Second));
//if ((taketime - timetook) < 0)
{
timeerror += (taketime - timetook);
if (ts != 0)
{
ts += timeerror;
timeerror = 0;
}
}
if (Math.Abs(ts) > 1000)
ts = 1000;
}
taketime = ts;
tsreal = DateTime.Now;
if (ts > 0 && ts < 1000)
Thread.Sleep((int) ts);
tracklast = tracklast.AddMilliseconds(ts - act);
tunning = tunning.AddMilliseconds(ts - act);
if (tracklast.Month != DateTime.Now.Month)
{
tracklast = DateTime.Now;
tunning = DateTime.Now;
}
try
{
if (MainV2.comPort.logplaybackfile != null &&
MainV2.comPort.logplaybackfile.BaseStream.Position ==
MainV2.comPort.logplaybackfile.BaseStream.Length)
{
MainV2.comPort.logreadmode = false;
}
}
catch
{
MainV2.comPort.logreadmode = false;
}
}
else
{
// ensure we know to stop
if (MainV2.comPort.logreadmode)
MainV2.comPort.logreadmode = false;
updatePlayPauseButton(false);
if (!playingLog && MainV2.comPort.logplaybackfile != null)
{
continue;
}
}
try
{
CheckAndBindPreFlightData();
//Console.WriteLine(DateTime.Now.Millisecond);
//int fixme;
updateBindingSource();
// Console.WriteLine(DateTime.Now.Millisecond + " done ");
// battery warning.
float warnvolt = Settings.Instance.GetFloat("speechbatteryvolt");
float warnpercent = Settings.Instance.GetFloat("speechbatterypercent");
if (MainV2.comPort.MAV.cs.battery_voltage <= warnvolt)
{
hud1.lowvoltagealert = true;
}
else if ((MainV2.comPort.MAV.cs.battery_remaining) < warnpercent)
{
hud1.lowvoltagealert = true;
}
else
{
hud1.lowvoltagealert = false;
}
// update opengltest
if (OpenGLtest.instance != null)
{
OpenGLtest.instance.rpy = new Vector3(MainV2.comPort.MAV.cs.roll, MainV2.comPort.MAV.cs.pitch,
MainV2.comPort.MAV.cs.yaw);
OpenGLtest.instance.LocationCenter = new PointLatLngAlt(MainV2.comPort.MAV.cs.lat,
MainV2.comPort.MAV.cs.lng, MainV2.comPort.MAV.cs.alt, "here");
}
// update opengltest2
if (OpenGLtest2.instance != null)
{
OpenGLtest2.instance.rpy = new Vector3(MainV2.comPort.MAV.cs.roll, MainV2.comPort.MAV.cs.pitch,
MainV2.comPort.MAV.cs.yaw);
OpenGLtest2.instance.LocationCenter = new PointLatLngAlt(MainV2.comPort.MAV.cs.lat,
MainV2.comPort.MAV.cs.lng, MainV2.comPort.MAV.cs.alt, "here");
}
// update vario info
Vario.SetValue(MainV2.comPort.MAV.cs.climbrate);
// udpate tunning tab
if (tunning.AddMilliseconds(50) < DateTime.Now && CB_tuning.Checked)
{
double time = (Environment.TickCount - tickStart)/1000.0;
if (list1item != null)
list1.Add(time, ConvertToDouble(list1item.GetValue(MainV2.comPort.MAV.cs, null)));
if (list2item != null)
list2.Add(time, ConvertToDouble(list2item.GetValue(MainV2.comPort.MAV.cs, null)));
if (list3item != null)
list3.Add(time, ConvertToDouble(list3item.GetValue(MainV2.comPort.MAV.cs, null)));
if (list4item != null)
list4.Add(time, ConvertToDouble(list4item.GetValue(MainV2.comPort.MAV.cs, null)));
if (list5item != null)
list5.Add(time, ConvertToDouble(list5item.GetValue(MainV2.comPort.MAV.cs, null)));
if (list6item != null)
list6.Add(time, ConvertToDouble(list6item.GetValue(MainV2.comPort.MAV.cs, null)));
if (list7item != null)
list7.Add(time, ConvertToDouble(list7item.GetValue(MainV2.comPort.MAV.cs, null)));
if (list8item != null)
list8.Add(time, ConvertToDouble(list8item.GetValue(MainV2.comPort.MAV.cs, null)));
if (list9item != null)
list9.Add(time, ConvertToDouble(list9item.GetValue(MainV2.comPort.MAV.cs, null)));
if (list10item != null)
list10.Add(time, ConvertToDouble(list10item.GetValue(MainV2.comPort.MAV.cs, null)));
}
// update map
if (tracklast.AddSeconds(1.2) < DateTime.Now)
{
// show disable joystick button
if (MainV2.joystick != null && MainV2.joystick.enabled)
{
this.Invoke((MethodInvoker) delegate {
but_disablejoystick.Visible = true;
});
}
if (Settings.Instance.GetBoolean("CHK_maprotation"))
{
// dont holdinvalidation here
setMapBearing();
}
if (route == null)
{
route = new GMapRoute(trackPoints, "track");
routes.Routes.Add(route);
}
PointLatLng currentloc = new PointLatLng(MainV2.comPort.MAV.cs.lat, MainV2.comPort.MAV.cs.lng);
gMapControl1.HoldInvalidation = true;
int numTrackLength = Settings.Instance.GetInt32("NUM_tracklength");
// maintain route history length
if (route.Points.Count > numTrackLength)
{
route.Points.RemoveRange(0,
route.Points.Count - numTrackLength);
}
// add new route point
if (MainV2.comPort.MAV.cs.lat != 0 && MainV2.comPort.MAV.cs.lng != 0)
{
route.Points.Add(currentloc);
}
gMapControl1.UpdateRouteLocalPosition(route);
// update programed wp course
if (waypoints.AddSeconds(5) < DateTime.Now)
{
//Console.WriteLine("Doing FD WP's");
updateClearMissionRouteMarkers();
float dist = 0;
float travdist = 0;
distanceBar1.ClearWPDist();
MAVLink.mavlink_mission_item_t lastplla = new MAVLink.mavlink_mission_item_t();
MAVLink.mavlink_mission_item_t home = new MAVLink.mavlink_mission_item_t();
foreach (MAVLink.mavlink_mission_item_t plla in MainV2.comPort.MAV.wps.Values)
{
if (plla.x == 0 || plla.y == 0)
continue;
if (plla.command == (ushort)MAVLink.MAV_CMD.DO_SET_ROI)
{
addpolygonmarkerred(plla.seq.ToString(), plla.y, plla.x, (int) plla.z, Color.Red,
routes);
continue;
}
string tag = plla.seq.ToString();
if (plla.seq == 0 && plla.current != 2)
{
tag = "Home";
home = plla;
}
if (plla.current == 2)
{
continue;
}
if (lastplla.command == 0)
lastplla = plla;
try
{
dist =
(float)
new PointLatLngAlt(plla.x, plla.y).GetDistance(new PointLatLngAlt(
lastplla.x, lastplla.y));
distanceBar1.AddWPDist(dist);
if (plla.seq <= MainV2.comPort.MAV.cs.wpno)
{
travdist += dist;
}
lastplla = plla;
}
catch
{
}
addpolygonmarker(tag, plla.y, plla.x, (int) plla.z, Color.White, polygons);
}
try
{
//dist = (float)new PointLatLngAlt(home.x, home.y).GetDistance(new PointLatLngAlt(lastplla.x, lastplla.y));
// distanceBar1.AddWPDist(dist);
}
catch
{
}
travdist -= MainV2.comPort.MAV.cs.wp_dist;
if (MainV2.comPort.MAV.cs.mode.ToUpper() == "AUTO")
distanceBar1.traveleddist = travdist;
RegeneratePolygon();
// update rally points
rallypointoverlay.Markers.Clear();
foreach (var mark in MainV2.comPort.MAV.rallypoints.Values)
{
rallypointoverlay.Markers.Add(new GMapMarkerRallyPt(mark));
}
// optional on Flight data
if (MainV2.ShowAirports)
{
// airports
foreach (var item in Airports.getAirports(gMapControl1.Position))
{
rallypointoverlay.Markers.Add(new GMapMarkerAirport(item)
{
ToolTipText = item.Tag,
ToolTipMode = MarkerTooltipMode.OnMouseOver
});
}
}
waypoints = DateTime.Now;
}
updateClearRoutesMarkers();
// add this after the mav icons are drawn
if (MainV2.comPort.MAV.cs.MovingBase != null)
{
addMissionRouteMarker(new GMarkerGoogle(currentloc, GMarkerGoogleType.blue_dot)
{
Position = MainV2.comPort.MAV.cs.MovingBase,
ToolTipText = "Moving Base",
ToolTipMode = MarkerTooltipMode.OnMouseOver
});
}
// add gimbal point center
try
{
if (MainV2.comPort.MAV.param.ContainsKey("MNT_STAB_TILT"))
{
float temp1 = (float)MainV2.comPort.MAV.param["MNT_STAB_TILT"];
float temp2 = (float)MainV2.comPort.MAV.param["MNT_STAB_ROLL"];
float temp3 = (float)MainV2.comPort.MAV.param["MNT_TYPE"];
if (MainV2.comPort.MAV.param.ContainsKey("MNT_STAB_PAN") &&
// (float)MainV2.comPort.MAV.param["MNT_STAB_PAN"] == 1 &&
((float)MainV2.comPort.MAV.param["MNT_STAB_TILT"] == 1 &&
(float)MainV2.comPort.MAV.param["MNT_STAB_ROLL"] == 0) ||
(float)MainV2.comPort.MAV.param["MNT_TYPE"] == 4) // storm driver
{
var marker = GimbalPoint.ProjectPoint();
if (marker != PointLatLngAlt.Zero)
{
MainV2.comPort.MAV.cs.GimbalPoint = marker;
addMissionRouteMarker(new GMarkerGoogle(marker, GMarkerGoogleType.blue_dot)
{
ToolTipText = "Camera Target\n" + marker,
ToolTipMode = MarkerTooltipMode.OnMouseOver
});
}
}
}
// cleanup old - no markers where added, so remove all old
if (MainV2.comPort.MAV.camerapoints.Count == 0)
photosoverlay.Markers.Clear();
var min_interval = 0.0;
if (MainV2.comPort.MAV.param.ContainsKey("CAM_MIN_INTERVAL"))
min_interval = MainV2.comPort.MAV.param["CAM_MIN_INTERVAL"].Value/1000.0;
// set fov's based on last grid calc
if (Settings.Instance["camera_fovh"] != null)
{
GMapMarkerPhoto.hfov = Settings.Instance.GetDouble("camera_fovh");
GMapMarkerPhoto.vfov = Settings.Instance.GetDouble("camera_fovv");
}
// add new - populate camera_feedback to map
double oldtime = double.MinValue;
foreach (var mark in MainV2.comPort.MAV.camerapoints.ToArray())
{
var timesincelastshot = (mark.time_usec/1000.0)/1000.0 - oldtime;
MainV2.comPort.MAV.cs.timesincelastshot = timesincelastshot;
bool contains = photosoverlay.Markers.Any(p => p.Tag.Equals(mark.time_usec));
if (!contains)
{
if (timesincelastshot < min_interval)
addMissionPhotoMarker(new GMapMarkerPhoto(mark, true));
else
addMissionPhotoMarker(new GMapMarkerPhoto(mark, false));
}
oldtime = (mark.time_usec/1000.0)/1000.0;
}
// age current
int camcount = MainV2.comPort.MAV.camerapoints.Count;
int a = 0;
foreach (var mark in photosoverlay.Markers)
{
if (mark is GMapMarkerPhoto)
{
if (CameraOverlap)
{
var marker = ((GMapMarkerPhoto) mark);
// abandon roll higher than 25 degrees
if (Math.Abs(marker.Roll) < 25)
{
MainV2.comPort.MAV.GMapMarkerOverlapCount.Add(
((GMapMarkerPhoto) mark).footprintpoly);
}
}
if (a < (camcount-4))
((GMapMarkerPhoto)mark).drawfootprint = false;
}
a++;
}
if (CameraOverlap)
{
if (!kmlpolygons.Markers.Contains(MainV2.comPort.MAV.GMapMarkerOverlapCount) &&
camcount > 0)
{
kmlpolygons.Markers.Clear();
kmlpolygons.Markers.Add(MainV2.comPort.MAV.GMapMarkerOverlapCount);
}
}
else if (kmlpolygons.Markers.Contains(MainV2.comPort.MAV.GMapMarkerOverlapCount))
{
kmlpolygons.Markers.Clear();
}
}
catch
{
}
lock (MainV2.instance.adsblock)
{
// cleanup old
for (int a = (routes.Markers.Count - 1); a >= 0; a--)
{
if (routes.Markers[a].ToolTipText != null &&
routes.Markers[a].ToolTipText.Contains("ICAO"))
{
routes.Markers.RemoveAt(a);
}
}
foreach (adsb.PointLatLngAltHdg plla in MainV2.instance.adsbPlanes.Values)
{
// 30 seconds history
if (((DateTime) plla.Time) > DateTime.Now.AddSeconds(-30))
{
var adsbplane = new GMapMarkerADSBPlane(plla, plla.Heading)
{
ToolTipText = "ICAO: " + plla.Tag + " " + plla.Alt.ToString("0"),
ToolTipMode = MarkerTooltipMode.OnMouseOver,
};
switch (plla.ThreatLevel)
{
case MAVLink.MAV_COLLISION_THREAT_LEVEL.NONE:
adsbplane.AlertLevel = GMapMarkerADSBPlane.AlertLevelOptions.Green;
break;
case MAVLink.MAV_COLLISION_THREAT_LEVEL.LOW:
adsbplane.AlertLevel = GMapMarkerADSBPlane.AlertLevelOptions.Orange;
break;
case MAVLink.MAV_COLLISION_THREAT_LEVEL.HIGH:
adsbplane.AlertLevel = GMapMarkerADSBPlane.AlertLevelOptions.Red;
break;
}
addMissionRouteMarker(adsbplane);
}
}
}
if (route.Points.Count > 0)
{
// add primary route icon
// draw guide mode point for only main mav
if (MainV2.comPort.MAV.cs.mode.ToLower() == "guided" && MainV2.comPort.MAV.GuidedMode.x != 0)
{
addpolygonmarker("Guided Mode", MainV2.comPort.MAV.GuidedMode.y,
MainV2.comPort.MAV.GuidedMode.x, (int)MainV2.comPort.MAV.GuidedMode.z, Color.Blue,
routes);
}
// draw all icons for all connected mavs
foreach (var port in MainV2.Comports)
{
// draw the mavs seen on this port
foreach (var MAV in port.MAVlist)
{
var marker = Common.getMAVMarker(MAV);
addMissionRouteMarker(marker);
}
}
if (route.Points[route.Points.Count - 1].Lat != 0 &&
(mapupdate.AddSeconds(3) < DateTime.Now) && CHK_autopan.Checked)
{
updateMapPosition(currentloc);
mapupdate = DateTime.Now;
}
if (route.Points.Count == 1 && gMapControl1.Zoom == 3) // 3 is the default load zoom
{
updateMapPosition(currentloc);
updateMapZoom(17);
}
}
gMapControl1.HoldInvalidation = false;
if (gMapControl1.Visible)
{
gMapControl1.Invalidate();
}
tracklast = DateTime.Now;
}
}
catch (Exception ex)
{
log.Error(ex);
Tracking.AddException(ex);
Console.WriteLine("FD Main loop exception " + ex);
}
}
Console.WriteLine("FD Main loop exit");
}
/// <summary>
/// Метод сортировки адресов по мере удаленности и построения маршрута
/// </summary>
/// <returns></returns>
private async Task Sort_Addresses()
{
List <Constants> start_list = await oConstantsRepository.Select_Constants_Async("select value from Constants where name=\'Address\'");
Start_address = start_list.First().value.ToString();
needded_addresses.Add(Start_address);
needded_adr_copy.Add(Start_address);
sorted_addresses.Add(Start_address);
List <GMapRoute> routes_list = new List <GMapRoute>();
LOrders = await oOrdersRepository.Select_All_Orders_Async();
#region выборка всех нужных адресов из БД
foreach (var c in LOrders)
{
if (c.status == "Готовится к отправке")
{
needded_addresses.Add(c.address.ToString());
needded_adr_copy.Add(c.address.ToString());
}
}
#endregion
string Close_position = needded_addresses[0].ToString();
#region Сортировка адресов по мере удаленности от адреса компании
for (int i = 0; i < needded_addresses.Count - 1; i++)
{
double min_Dist = 1000000.0;
string Start_position = Close_position;
int closest_id = 1;
string Closest_Adr = "";
List <double> Start_position_point = m.Geocoding(Start_position);
sorted_points.Add(new GMap.NET.PointLatLng(Start_position_point[0], Start_position_point[1]));
for (int j = closest_id; j < needded_adr_copy.Count; j++)
{
if (needded_adr_copy[j] != Start_position)
{
double Distance = 0.0;
List <double> adr_latlng = m.Geocoding(needded_adr_copy[j].ToString());
Distance = gmap_routes.MapProvider.Projection.GetDistance(new GMap.NET.PointLatLng(Start_position_point[0], Start_position_point[1]), new GMap.NET.PointLatLng(adr_latlng[0], adr_latlng[1]));
if (Distance < min_Dist)
{
min_Dist = Distance;
Closest_Adr = needded_adr_copy[j].ToString();
}
}
}
sorted_addresses.Add(Closest_Adr.ToString());
List <double> closest_address_points = m.Geocoding(Closest_Adr.ToString());
sorted_points.Add(new GMap.NET.PointLatLng(closest_address_points[0], closest_address_points[1]));
needded_adr_copy.Remove(Closest_Adr);
Close_position = Closest_Adr;
}
#endregion
GMap.NET.RoutingProvider rp = gmap_routes.MapProvider as GMap.NET.RoutingProvider;
if (rp == null)
{
rp = GMapProviders.OpenStreetMap;
}
GMap.NET.MapRoute route;
#region построение маршрута по отсортированным адресам
for (int i = 0; i < sorted_addresses.Count - 1; i++)
{
List <double> first = m.Geocoding(sorted_addresses[i]);
List <double> last = m.Geocoding(sorted_addresses[i + 1]);
route = rp.GetRoute(new GMap.NET.PointLatLng(first[0], first[1]), new GMap.NET.PointLatLng(last[0], last[1]), false, false, (int)gmap_routes.Zoom);
if (route != null)
{
GMapRoute mRoute = new GMapRoute(route.Points);
{
mRoute.ZIndex = -1;
}
routes_list.Add(mRoute);
}
}
foreach (var l in routes_list)
{
gmap_routes.Markers.Add(l);
l.RegenerateShape(gmap_routes);
}
#endregion
}
private void mainloop()
{
//System.Threading.Thread.CurrentThread.CurrentUICulture = new System.Globalization.CultureInfo("en-US");
//System.Threading.Thread.CurrentThread.CurrentCulture = new System.Globalization.CultureInfo("en-US");
threadrun = 1;
EndPoint Remote = (EndPoint)(new IPEndPoint(IPAddress.Any, 0));
DateTime lastdata = DateTime.MinValue;
DateTime tracklast = DateTime.Now.AddSeconds(0);
DateTime tunning = DateTime.Now.AddSeconds(0);
DateTime vidrec = DateTime.Now.AddSeconds(0);
DateTime waypoints = DateTime.Now.AddSeconds(0);
//comPort.stopall(true);
while (threadrun == 1)
{
if (threadrun == 0) { return; }
if (MainV2.giveComport == true)
{
System.Threading.Thread.Sleep(20);
continue;
}
if (!comPort.BaseStream.IsOpen)
lastdata = DateTime.Now;
// re-request servo data
if (!(lastdata.AddSeconds(8) > DateTime.Now) && comPort.BaseStream.IsOpen)
{
//Console.WriteLine("REQ streams - flightdata");
try
{
//System.Threading.Thread.Sleep(1000);
//comPort.requestDatastream((byte)ArdupilotMega.MAVLink09.MAV_DATA_STREAM.RAW_CONTROLLER, 0); // request servoout
comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTENDED_STATUS, MainV2.cs.ratestatus); // mode
comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.POSITION, MainV2.cs.rateposition); // request gps
comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTRA1, MainV2.cs.rateattitude); // request attitude
comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTRA2, MainV2.cs.rateattitude); // request vfr
comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.EXTRA3, MainV2.cs.ratesensors); // request extra stuff - tridge
comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.cs.ratesensors); // request raw sensor
comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.RC_CHANNELS, MainV2.cs.raterc); // request rc info
}
catch { }
lastdata = DateTime.Now.AddSeconds(120); // prevent flooding
}
if (!MainV2.comPort.logreadmode)
System.Threading.Thread.Sleep(100); // max is only ever 10 hz
try
{
if (aviwriter != null && vidrec.AddMilliseconds(100) <= DateTime.Now)
{
vidrec = DateTime.Now;
hud1.streamjpgenable = true;
//aviwriter.avi_start("test.avi");
// add a frame
aviwriter.avi_add(hud1.streamjpg.ToArray(), (uint)hud1.streamjpg.Length);
// write header - so even partial files will play
aviwriter.avi_end(hud1.Width, hud1.Height, 10);
}
}
catch { }
if (MainV2.comPort.logreadmode && MainV2.comPort.logplaybackfile != null)
{
if (threadrun == 0) { return; }
updatePlayPauseButton(true);
MainV2.comPort.setAPType();
if (comPort.BaseStream.IsOpen)
{
MainV2.comPort.logreadmode = false;
MainV2.comPort.logplaybackfile.Close();
MainV2.comPort.logplaybackfile = null;
}
DateTime logplayback = MainV2.comPort.lastlogread;
try
{
MainV2.comPort.readPacket();
}
catch { }
updateLogPlayPosition();
int act = (int)(MainV2.comPort.lastlogread - logplayback).TotalMilliseconds;
if (act > 9999 || act < 0)
act = 0;
int ts = 0;
if (LogPlayBackSpeed == 0)
LogPlayBackSpeed = 0.01;
try
{
ts = (int) Math.Min((act / LogPlayBackSpeed),1000);
}
catch { }
if (ts > 0)
System.Threading.Thread.Sleep(ts);
if (threadrun == 0) { return; }
tracklast = tracklast.AddMilliseconds(ts - act);
tunning = tunning.AddMilliseconds(ts - act);
if (tracklast.Month != DateTime.Now.Month)
{
tracklast = DateTime.Now;
tunning = DateTime.Now;
}
if (MainV2.comPort.logplaybackfile != null && MainV2.comPort.logplaybackfile.BaseStream.Position == MainV2.comPort.logplaybackfile.BaseStream.Length)
{
MainV2.comPort.logreadmode = false;
}
}
else
{
// ensure we know to stop
if (MainV2.comPort.logreadmode)
MainV2.comPort.logreadmode = false;
updatePlayPauseButton(false);
if (!playingLog && MainV2.comPort.logplaybackfile != null)
{
continue;
}
}
try
{
//Console.WriteLine(DateTime.Now.Millisecond);
updateBindingSource();
//Console.WriteLine(DateTime.Now.Millisecond + " done ");
if (ArdupilotMega.Controls.OpenGLtest.instance != null)
{
ArdupilotMega.Controls.OpenGLtest.instance.rpy = new OpenTK.Vector3(MainV2.cs.roll,MainV2.cs.pitch,MainV2.cs.yaw);
ArdupilotMega.Controls.OpenGLtest.instance.LocationCenter = new PointLatLngAlt(MainV2.cs.lat,MainV2.cs.lng,MainV2.cs.alt,"here");
}
if (tunning.AddMilliseconds(50) < DateTime.Now && CB_tuning.Checked == true)
{
double time = (Environment.TickCount - tickStart) / 1000.0;
if (list1item != null)
list1.Add(time, (float)list1item.GetValue((object)MainV2.cs, null));
if (list2item != null)
list2.Add(time, (float)list2item.GetValue((object)MainV2.cs, null));
if (list3item != null)
list3.Add(time, (float)list3item.GetValue((object)MainV2.cs, null));
if (list4item != null)
list4.Add(time, (float)list4item.GetValue((object)MainV2.cs, null));
if (list5item != null)
list5.Add(time, (float)list5item.GetValue((object)MainV2.cs, null));
if (list6item != null)
list6.Add(time, (float)list6item.GetValue((object)MainV2.cs, null));
if (list7item != null)
list7.Add(time, (float)list7item.GetValue((object)MainV2.cs, null));
if (list8item != null)
list8.Add(time, (float)list8item.GetValue((object)MainV2.cs, null));
if (list9item != null)
list9.Add(time, (float)list9item.GetValue((object)MainV2.cs, null));
if (list10item != null)
list10.Add(time, (float)list10item.GetValue((object)MainV2.cs, null));
}
if (tracklast.AddSeconds(1) < DateTime.Now)
{
if (MainV2.config["CHK_maprotation"] != null && MainV2.config["CHK_maprotation"].ToString() == "True")
{
setMapBearing();
}
gMapControl1.HoldInvalidation = true;
while (gMapControl1.inOnPaint == true)
{
System.Threading.Thread.Sleep(1);
}
if (trackPoints.Count > int.Parse(MainV2.config["NUM_tracklength"].ToString()))
{
trackPoints.RemoveRange(0, trackPoints.Count - int.Parse(MainV2.config["NUM_tracklength"].ToString()));
}
if (MainV2.cs.lat != 0)
trackPoints.Add(new PointLatLng(MainV2.cs.lat, MainV2.cs.lng));
// if (CB_tuning.Checked == false) // draw if in view
{
if (MainV2.comPort.logreadmode && MainV2.comPort.logplaybackfile != null)
{
// this is for the pulled wp list from a mavlink logfile
FlightPlanner.pointlist.Clear();
FlightPlanner.pointlist.AddRange(MainV2.comPort.wps);
}
while (gMapControl1.inOnPaint == true)
{
System.Threading.Thread.Sleep(1);
}
updateClearRoutes();
route = new GMapRoute(trackPoints, "track");
//track.Stroke = Pens.Red;
//route.Stroke = new Pen(Color.FromArgb(144, Color.Red));
//route.Stroke.Width = 5;
//route.Tag = "track";
routes.Routes.Add(route);
if (waypoints.AddSeconds(10) < DateTime.Now)
{
//Console.WriteLine("Doing FD WP's");
polygons.Markers.Clear();
foreach (PointLatLngAlt plla in FlightPlanner.pointlist)
{
if (plla == null || plla.Lng == 0 || plla.Lat == 0)
break;
addpolygonmarker(plla.Tag, plla.Lng, plla.Lat, (int)plla.Alt,plla.color,polygons);
}
RegeneratePolygon();
waypoints = DateTime.Now;
}
if (MainV2.cs.mode.ToLower() == "guided" && GuidedModeWP != null && GuidedModeWP.Lat != 0)
{
addpolygonmarker("Guided Mode", GuidedModeWP.Lng, GuidedModeWP.Lat, (int)GuidedModeWP.Alt, Color.Blue, routes);
}
//routes.Polygons.Add(poly);
if (trackPoints.Count > 0)
{
PointLatLng currentloc = new PointLatLng(MainV2.cs.lat, MainV2.cs.lng);
if (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane)
{
routes.Markers.Add(new GMapMarkerPlane(currentloc, MainV2.cs.yaw, MainV2.cs.groundcourse, MainV2.cs.nav_bearing, MainV2.cs.target_bearing, gMapControl1));
}
else if (MainV2.cs.firmware == MainV2.Firmwares.ArduRover)
{
routes.Markers.Add(new GMapMarkerRover(currentloc, MainV2.cs.yaw, MainV2.cs.groundcourse, MainV2.cs.nav_bearing, MainV2.cs.target_bearing, gMapControl1));
}
else
{
routes.Markers.Add(new GMapMarkerQuad(currentloc, MainV2.cs.yaw, MainV2.cs.groundcourse, MainV2.cs.nav_bearing));
}
if (trackPoints[trackPoints.Count - 1].Lat != 0 && (DateTime.Now.Second % 4 == 0) && CHK_autopan.Checked)
{
updateMapPosition(currentloc);
}
if (trackPoints.Count == 1 && gMapControl1.Zoom == 3) // 3 is the default load zoom
{
updateMapPosition(currentloc);
updateMapZoom(17);
//gMapControl1.ZoomAndCenterMarkers("routes");// ZoomAndCenterRoutes("routes");
}
}
gMapControl1.HoldInvalidation = false;
gMapControl1.Invalidate();
}
tracklast = DateTime.Now;
}
}
catch (Exception ex) { Console.WriteLine("FD Main loop exception " + ex.ToString()); }
}
Console.WriteLine("FD Main loop exit");
}
void MainMap_OnRouteLeave(GMapRoute item)
{
currentRoute = null;
item.Stroke.Color = Color.MidnightBlue;
//Debug.WriteLine("OnRouteLeave: " + item.Name);
}
private void mainloop()
{
threadrun = true;
EndPoint Remote = new IPEndPoint(IPAddress.Any, 0);
DateTime tracklast = DateTime.Now.AddSeconds(0);
DateTime tunning = DateTime.Now.AddSeconds(0);
DateTime mapupdate = DateTime.Now.AddSeconds(0);
DateTime vidrec = DateTime.Now.AddSeconds(0);
DateTime waypoints = DateTime.Now.AddSeconds(0);
DateTime updatescreen = DateTime.Now;
DateTime tsreal = DateTime.Now;
double taketime = 0;
double timeerror = 0;
//comPort.stopall(true);
while (threadrun)
{
if (MainV2.comPort.giveComport)
{
Thread.Sleep(50);
continue;
}
if (!MainV2.comPort.logreadmode)
Thread.Sleep(50); // max is only ever 10 hz but we go a little faster to empty the serial queue
try
{
if (aviwriter != null && vidrec.AddMilliseconds(100) <= DateTime.Now)
{
vidrec = DateTime.Now;
hud1.streamjpgenable = true;
//aviwriter.avi_start("test.avi");
// add a frame
aviwriter.avi_add(hud1.streamjpg.ToArray(), (uint) hud1.streamjpg.Length);
// write header - so even partial files will play
aviwriter.avi_end(hud1.Width, hud1.Height, 10);
}
}
catch
{
log.Error("Failed to write avi");
}
// log playback
if (MainV2.comPort.logreadmode && MainV2.comPort.logplaybackfile != null)
{
if (MainV2.comPort.BaseStream.IsOpen)
{
MainV2.comPort.logreadmode = false;
try
{
MainV2.comPort.logplaybackfile.Close();
}
catch
{
log.Error("Failed to close logfile");
}
MainV2.comPort.logplaybackfile = null;
}
//Console.WriteLine(DateTime.Now.Millisecond);
if (updatescreen.AddMilliseconds(300) < DateTime.Now)
{
try
{
updatePlayPauseButton(true);
updateLogPlayPosition();
}
catch
{
log.Error("Failed to update log playback pos");
}
updatescreen = DateTime.Now;
}
//Console.WriteLine(DateTime.Now.Millisecond + " done ");
DateTime logplayback = MainV2.comPort.lastlogread;
try
{
MainV2.comPort.readPacket();
}
catch
{
log.Error("Failed to read log packet");
}
double act = (MainV2.comPort.lastlogread - logplayback).TotalMilliseconds;
if (act > 9999 || act < 0)
act = 0;
double ts = 0;
if (LogPlayBackSpeed == 0)
LogPlayBackSpeed = 0.01;
try
{
ts = Math.Min((act/LogPlayBackSpeed), 1000);
}
catch
{
}
double timetook = (DateTime.Now - tsreal).TotalMilliseconds;
if (timetook != 0)
{
//Console.WriteLine("took: " + timetook + "=" + taketime + " " + (taketime - timetook) + " " + ts);
//Console.WriteLine(MainV2.comPort.lastlogread.Second + " " + DateTime.Now.Second + " " + (MainV2.comPort.lastlogread.Second - DateTime.Now.Second));
//if ((taketime - timetook) < 0)
{
timeerror += (taketime - timetook);
if (ts != 0)
{
ts += timeerror;
timeerror = 0;
}
}
if (Math.Abs(ts) > 1000)
ts = 1000;
}
taketime = ts;
tsreal = DateTime.Now;
if (ts > 0 && ts < 1000)
Thread.Sleep((int) ts);
tracklast = tracklast.AddMilliseconds(ts - act);
tunning = tunning.AddMilliseconds(ts - act);
if (tracklast.Month != DateTime.Now.Month)
{
tracklast = DateTime.Now;
tunning = DateTime.Now;
}
try
{
if (MainV2.comPort.logplaybackfile != null &&
MainV2.comPort.logplaybackfile.BaseStream.Position ==
MainV2.comPort.logplaybackfile.BaseStream.Length)
{
MainV2.comPort.logreadmode = false;
}
}
catch
{
MainV2.comPort.logreadmode = false;
}
}
else
{
// ensure we know to stop
if (MainV2.comPort.logreadmode)
MainV2.comPort.logreadmode = false;
updatePlayPauseButton(false);
if (!playingLog && MainV2.comPort.logplaybackfile != null)
{
continue;
}
}
try
{
CheckAndBindPreFlightData();
//Console.WriteLine(DateTime.Now.Millisecond);
//int fixme;
updateBindingSource();
// Console.WriteLine(DateTime.Now.Millisecond + " done ");
// battery warning.
float warnvolt = 0;
float.TryParse(MainV2.getConfig("speechbatteryvolt"), out warnvolt);
float warnpercent = 0;
float.TryParse(MainV2.getConfig("speechbatterypercent"), out warnpercent);
if (MainV2.comPort.MAV.cs.battery_voltage <= warnvolt)
{
hud1.lowvoltagealert = true;
}
else if ((MainV2.comPort.MAV.cs.battery_remaining) < warnpercent)
{
hud1.lowvoltagealert = true;
}
else
{
hud1.lowvoltagealert = false;
}
// update opengltest
if (OpenGLtest.instance != null)
{
OpenGLtest.instance.rpy = new Vector3(MainV2.comPort.MAV.cs.roll, MainV2.comPort.MAV.cs.pitch,
MainV2.comPort.MAV.cs.yaw);
OpenGLtest.instance.LocationCenter = new PointLatLngAlt(MainV2.comPort.MAV.cs.lat,
MainV2.comPort.MAV.cs.lng, MainV2.comPort.MAV.cs.alt, "here");
}
// update opengltest2
if (OpenGLtest2.instance != null)
{
OpenGLtest2.instance.rpy = new Vector3(MainV2.comPort.MAV.cs.roll, MainV2.comPort.MAV.cs.pitch,
MainV2.comPort.MAV.cs.yaw);
OpenGLtest2.instance.LocationCenter = new PointLatLngAlt(MainV2.comPort.MAV.cs.lat,
MainV2.comPort.MAV.cs.lng, MainV2.comPort.MAV.cs.alt, "here");
}
// update vario info
Vario.SetValue(MainV2.comPort.MAV.cs.climbrate);
// udpate tunning tab
if (tunning.AddMilliseconds(50) < DateTime.Now && CB_tuning.Checked)
{
double time = (Environment.TickCount - tickStart)/1000.0;
if (list1item != null)
list1.Add(time, ConvertToDouble(list1item.GetValue(MainV2.comPort.MAV.cs, null)));
if (list2item != null)
list2.Add(time, ConvertToDouble(list2item.GetValue(MainV2.comPort.MAV.cs, null)));
if (list3item != null)
list3.Add(time, ConvertToDouble(list3item.GetValue(MainV2.comPort.MAV.cs, null)));
if (list4item != null)
list4.Add(time, ConvertToDouble(list4item.GetValue(MainV2.comPort.MAV.cs, null)));
if (list5item != null)
list5.Add(time, ConvertToDouble(list5item.GetValue(MainV2.comPort.MAV.cs, null)));
if (list6item != null)
list6.Add(time, ConvertToDouble(list6item.GetValue(MainV2.comPort.MAV.cs, null)));
if (list7item != null)
list7.Add(time, ConvertToDouble(list7item.GetValue(MainV2.comPort.MAV.cs, null)));
if (list8item != null)
list8.Add(time, ConvertToDouble(list8item.GetValue(MainV2.comPort.MAV.cs, null)));
if (list9item != null)
list9.Add(time, ConvertToDouble(list9item.GetValue(MainV2.comPort.MAV.cs, null)));
if (list10item != null)
list10.Add(time, ConvertToDouble(list10item.GetValue(MainV2.comPort.MAV.cs, null)));
}
// update map
if (tracklast.AddSeconds(1.2) < DateTime.Now)
{
if (MainV2.config["CHK_maprotation"] != null &&
MainV2.config["CHK_maprotation"].ToString() == "True")
{
// dont holdinvalidation here
setMapBearing();
}
if (route == null)
{
route = new GMapRoute(trackPoints, "track");
routes.Routes.Add(route);
}
PointLatLng currentloc = new PointLatLng(MainV2.comPort.MAV.cs.lat, MainV2.comPort.MAV.cs.lng);
gMapControl1.HoldInvalidation = true;
int cnt = 0;
while (gMapControl1.inOnPaint)
{
Thread.Sleep(1);
cnt++;
}
// maintain route history length
if (route.Points.Count > int.Parse(MainV2.config["NUM_tracklength"].ToString()))
{
// trackPoints.RemoveRange(0, trackPoints.Count - int.Parse(MainV2.config["NUM_tracklength"].ToString()));
route.Points.RemoveRange(0,
route.Points.Count - int.Parse(MainV2.config["NUM_tracklength"].ToString()));
}
// add new route point
if (MainV2.comPort.MAV.cs.lat != 0)
{
// trackPoints.Add(currentloc);
route.Points.Add(currentloc);
}
while (gMapControl1.inOnPaint)
{
Thread.Sleep(1);
cnt++;
}
//route = new GMapRoute(route.Points, "track");
//track.Stroke = Pens.Red;
//route.Stroke = new Pen(Color.FromArgb(144, Color.Red));
//route.Stroke.Width = 5;
//route.Tag = "track";
//updateClearRoutes();
gMapControl1.UpdateRouteLocalPosition(route);
// update programed wp course
if (waypoints.AddSeconds(5) < DateTime.Now)
{
//Console.WriteLine("Doing FD WP's");
updateClearMissionRouteMarkers();
float dist = 0;
float travdist = 0;
distanceBar1.ClearWPDist();
MAVLink.mavlink_mission_item_t lastplla = new MAVLink.mavlink_mission_item_t();
MAVLink.mavlink_mission_item_t home = new MAVLink.mavlink_mission_item_t();
foreach (MAVLink.mavlink_mission_item_t plla in MainV2.comPort.MAV.wps.Values)
{
if (plla.x == 0 || plla.y == 0)
continue;
if (plla.command == (byte) MAVLink.MAV_CMD.DO_SET_ROI)
{
addpolygonmarkerred(plla.seq.ToString(), plla.y, plla.x, (int) plla.z, Color.Red,
routes);
continue;
}
string tag = plla.seq.ToString();
if (plla.seq == 0 && plla.current != 2)
{
tag = "Home";
home = plla;
}
if (plla.current == 2)
{
continue;
}
if (lastplla.command == 0)
lastplla = plla;
try
{
dist =
(float)
new PointLatLngAlt(plla.x, plla.y).GetDistance(new PointLatLngAlt(
lastplla.x, lastplla.y));
distanceBar1.AddWPDist(dist);
if (plla.seq <= MainV2.comPort.MAV.cs.wpno)
{
travdist += dist;
}
lastplla = plla;
}
catch
{
}
addpolygonmarker(tag, plla.y, plla.x, (int) plla.z, Color.White, polygons);
}
try
{
//dist = (float)new PointLatLngAlt(home.x, home.y).GetDistance(new PointLatLngAlt(lastplla.x, lastplla.y));
// distanceBar1.AddWPDist(dist);
}
catch
{
}
travdist -= MainV2.comPort.MAV.cs.wp_dist;
if (MainV2.comPort.MAV.cs.mode.ToUpper() == "AUTO")
distanceBar1.traveleddist = travdist;
RegeneratePolygon();
// update rally points
rallypointoverlay.Markers.Clear();
foreach (var mark in MainV2.comPort.MAV.rallypoints.Values)
{
rallypointoverlay.Markers.Add(new GMapMarkerRallyPt(mark));
}
// optional on Flight data
if (MainV2.ShowAirports)
{
// airports
foreach (var item in Airports.getAirports(gMapControl1.Position))
{
rallypointoverlay.Markers.Add(new GMapMarkerAirport(item)
{
ToolTipText = item.Tag,
ToolTipMode = MarkerTooltipMode.OnMouseOver
});
}
}
waypoints = DateTime.Now;
}
//routes.Polygons.Add(poly);
if (route.Points.Count > 0)
{
// add primary route icon
updateClearRouteMarker(currentloc);
// draw guide mode point for only main mav
if (MainV2.comPort.MAV.cs.mode.ToLower() == "guided" && MainV2.comPort.MAV.GuidedMode.x != 0)
{
addpolygonmarker("Guided Mode", MainV2.comPort.MAV.GuidedMode.y,
MainV2.comPort.MAV.GuidedMode.x, (int) MainV2.comPort.MAV.GuidedMode.z, Color.Blue,
routes);
}
// draw all icons for all connected mavs
foreach (var port in MainV2.Comports)
{
// draw the mavs seen on this port
foreach (var MAV in port.MAVlist.GetMAVStates())
{
PointLatLng portlocation = new PointLatLng(MAV.cs.lat, MAV.cs.lng);
if (MAV.cs.firmware == MainV2.Firmwares.ArduPlane ||
MAV.cs.firmware == MainV2.Firmwares.Ateryx)
{
routes.Markers.Add(new GMapMarkerPlane(portlocation, MAV.cs.yaw,
MAV.cs.groundcourse, MAV.cs.nav_bearing, MAV.cs.target_bearing)
{
ToolTipText = MAV.cs.alt.ToString("0"),
ToolTipMode = MarkerTooltipMode.Always
});
}
else if (MAV.cs.firmware == MainV2.Firmwares.ArduRover)
{
routes.Markers.Add(new GMapMarkerRover(portlocation, MAV.cs.yaw,
MAV.cs.groundcourse, MAV.cs.nav_bearing, MAV.cs.target_bearing));
}
else if (MAV.aptype == MAVLink.MAV_TYPE.HELICOPTER)
{
routes.Markers.Add(new GMapMarkerHeli(portlocation, MAV.cs.yaw,
MAV.cs.groundcourse, MAV.cs.nav_bearing));
}
else if (MAV.cs.firmware == MainV2.Firmwares.ArduTracker)
{
routes.Markers.Add(new GMapMarkerAntennaTracker(portlocation, MAV.cs.yaw,
MAV.cs.target_bearing));
}
else if (MAV.cs.firmware == MainV2.Firmwares.ArduCopter2)
{
routes.Markers.Add(new GMapMarkerQuad(portlocation, MAV.cs.yaw,
MAV.cs.groundcourse, MAV.cs.nav_bearing, MAV.sysid));
}
else
{
// unknown type
routes.Markers.Add(new GMarkerGoogle(portlocation, GMarkerGoogleType.green_dot));
}
}
}
if (route.Points[route.Points.Count - 1].Lat != 0 &&
(mapupdate.AddSeconds(3) < DateTime.Now) && CHK_autopan.Checked)
{
updateMapPosition(currentloc);
mapupdate = DateTime.Now;
}
if (route.Points.Count == 1 && gMapControl1.Zoom == 3) // 3 is the default load zoom
{
updateMapPosition(currentloc);
updateMapZoom(17);
//gMapControl1.ZoomAndCenterMarkers("routes");// ZoomAndCenterRoutes("routes");
}
}
// add this after the mav icons are drawn
if (MainV2.comPort.MAV.cs.MovingBase != null)
{
routes.Markers.Add(new GMarkerGoogle(currentloc, GMarkerGoogleType.blue_dot)
{
Position = MainV2.comPort.MAV.cs.MovingBase,
ToolTipText = "Moving Base",
ToolTipMode = MarkerTooltipMode.OnMouseOver
});
}
// for testing
try
{
if (MainV2.comPort.MAV.param.ContainsKey("MNT_STAB_TILT"))
{
float temp1 = (float) MainV2.comPort.MAV.param["MNT_STAB_TILT"];
float temp2 = (float) MainV2.comPort.MAV.param["MNT_STAB_ROLL"];
float temp3 = (float) MainV2.comPort.MAV.param["MNT_TYPE"];
if (MainV2.comPort.MAV.param.ContainsKey("MNT_STAB_PAN") &&
// (float)MainV2.comPort.MAV.param["MNT_STAB_PAN"] == 1 &&
((float) MainV2.comPort.MAV.param["MNT_STAB_TILT"] == 1 &&
(float) MainV2.comPort.MAV.param["MNT_STAB_ROLL"] == 0) ||
(float) MainV2.comPort.MAV.param["MNT_TYPE"] == 4) // storm driver
{
var marker = GimbalPoint.ProjectPoint();
if (marker != PointLatLngAlt.Zero)
{
MainV2.comPort.MAV.cs.GimbalPoint = marker;
routes.Markers.Add(new GMarkerGoogle(marker, GMarkerGoogleType.blue_dot)
{
ToolTipText = "Camera Target\n" + marker,
ToolTipMode = MarkerTooltipMode.OnMouseOver
});
}
}
}
}
catch
{
}
lock (MainV2.instance.adsblock)
{
for (int a = (routes.Markers.Count - 1); a >= 0; a--)
{
if (routes.Markers[a].ToolTipText != null &&
routes.Markers[a].ToolTipText.Contains("ICAO"))
{
routes.Markers.RemoveAt(a);
}
}
foreach (adsb.PointLatLngAltHdg plla in MainV2.instance.adsbPlanes.Values)
{
// 30 seconds
if (((DateTime) MainV2.instance.adsbPlaneAge[plla.Tag]) > DateTime.Now.AddSeconds(-30))
routes.Markers.Add(new GMapMarkerADSBPlane(plla, plla.Heading)
{
ToolTipText = "ICAO: " + plla.Tag + " " + plla.Alt.ToString("0"),
ToolTipMode = MarkerTooltipMode.OnMouseOver
});
}
}
// routes.Markers.Clear();
gMapControl1.HoldInvalidation = false;
if (gMapControl1.Visible)
{
gMapControl1.Invalidate();
}
tracklast = DateTime.Now;
}
}
catch (Exception ex)
{
log.Error(ex);
Console.WriteLine("FD Main loop exception " + ex);
}
}
Console.WriteLine("FD Main loop exit");
}
void MainMap_OnRouteEnter(GMapRoute item)
{
currentRoute = item;
item.Stroke.Color = Color.Red;
//Debug.WriteLine("OnRouteEnter: " + item.Name);
}
// Do Work
private void domainUpDown1_ValueChanged(object sender, EventArgs e)
{
if (CMB_camera.Text != "" && sender != NUM_Distance)
doCalc();
// new grid system test
grid = Grid.CreateGrid(list, CurrentState.fromDistDisplayUnit((double)NUM_altitude.Value), (double)NUM_Distance.Value, (double)NUM_spacing.Value, (double)NUM_angle.Value, (double)NUM_overshoot.Value, (double)NUM_overshoot2.Value, (Grid.StartPosition)Enum.Parse(typeof(Grid.StartPosition), CMB_startfrom.Text), false, (float)NUM_Lane_Dist.Value, (float)NUM_leadin.Value);
List<PointLatLng> list2 = new List<PointLatLng>();
grid.ForEach(x => { list2.Add(x); });
map.HoldInvalidation = true;
routesOverlay.Routes.Clear();
routesOverlay.Polygons.Clear();
routesOverlay.Markers.Clear();
if (grid.Count == 0)
{
return;
}
if (CHK_boundary.Checked)
AddDrawPolygon();
int strips = 0;
int images = 0;
int a = 1;
PointLatLngAlt prevpoint = grid[0];
float routetotal = 0;
List<PointLatLng> segment = new List<PointLatLng>();
foreach (var item in grid)
{
if (item.Tag == "M")
{
images++;
if (CHK_internals.Checked)
{
routesOverlay.Markers.Add(new GMarkerGoogle(item, GMarkerGoogleType.green) { ToolTipText = a.ToString(), ToolTipMode = MarkerTooltipMode.OnMouseOver });
a++;
segment.Add(prevpoint);
segment.Add(item);
prevpoint = item;
}
try
{
if (TXT_fovH.Text != "")
{
double fovh = double.Parse(TXT_fovH.Text);
double fovv = double.Parse(TXT_fovV.Text);
double startangle = 0;
if (!CHK_camdirection.Checked)
{
startangle = 90;
}
double angle1 = startangle - (Math.Tan((fovv / 2.0) / (fovh / 2.0)) * rad2deg);
double dist1 = Math.Sqrt(Math.Pow(fovh / 2.0, 2) + Math.Pow(fovv / 2.0, 2));
double bearing = (double)NUM_angle.Value;// (prevpoint.GetBearing(item) + 360.0) % 360;
List<PointLatLng> footprint = new List<PointLatLng>();
footprint.Add(item.newpos(bearing + angle1, dist1));
footprint.Add(item.newpos(bearing + 180 - angle1, dist1));
footprint.Add(item.newpos(bearing + 180 + angle1, dist1));
footprint.Add(item.newpos(bearing - angle1, dist1));
GMapPolygon poly = new GMapPolygon(footprint, a.ToString());
poly.Stroke = new Pen(Color.FromArgb(250 - ((a * 5) % 240), 250 - ((a * 3) % 240), 250 - ((a * 9) % 240)), 1);
poly.Fill = new SolidBrush(Color.FromArgb(40, Color.Purple));
if (CHK_footprints.Checked)
routesOverlay.Polygons.Add(poly);
}
}
catch { }
}
else
{
strips++;
if (CHK_markers.Checked)
{
var marker = new GMapMarkerWP(item, a.ToString()) { ToolTipText = a.ToString(), ToolTipMode = MarkerTooltipMode.OnMouseOver };
routesOverlay.Markers.Add(marker);
}
segment.Add(prevpoint);
segment.Add(item);
prevpoint = item;
a++;
}
GMapRoute seg = new GMapRoute(segment, "segment" + a.ToString());
seg.Stroke = new Pen(Color.Yellow, 4);
seg.Stroke.DashStyle = System.Drawing.Drawing2D.DashStyle.Custom;
seg.IsHitTestVisible = true;
if (CHK_grid.Checked)
routesOverlay.Routes.Add(seg);
routetotal = routetotal + (float)seg.Distance;
segment.Clear();
}
/* Old way of drawing route, incase something breaks using segments
GMapRoute wproute = new GMapRoute(list2, "GridRoute");
wproute.Stroke = new Pen(Color.Yellow, 4);
if (chk_grid.Checked)
routesOverlay.Routes.Add(wproute);
*/
// turn radrad = tas^2 / (tan(angle) * G)
float v_sq = (float)(((float)NUM_UpDownFlySpeed.Value / CurrentState.multiplierspeed) * ((float)NUM_UpDownFlySpeed.Value / CurrentState.multiplierspeed));
float turnrad = (float)(v_sq / (float)(9.808f * Math.Tan(35 * deg2rad)));
// Update Stats
if (DistUnits == "Feet")
{
// Area
float area = (float)calcpolygonarea(list) * 10.7639f; // Calculate the area in square feet
lbl_area.Text = area.ToString("#") + " ft^2";
if (area < 21780f)
{
lbl_area.Text = area.ToString("#") + " ft^2";
}
else
{
area = area / 43560f;
if (area < 640f)
{
lbl_area.Text = area.ToString("0.##") + " acres";
}
else
{
area = area / 640f;
lbl_area.Text = area.ToString("0.##") + " miles^2";
}
}
// Distance
float distance = routetotal * 3280.84f; // Calculate the distance in feet
if (distance < 5280f)
{
lbl_distance.Text = distance.ToString("#") + " ft";
}
else
{
distance = distance / 5280f;
lbl_distance.Text = distance.ToString("0.##") + " miles";
}
lbl_spacing.Text = (NUM_spacing.Value * 3.2808399m).ToString("#") + " ft";
lbl_grndres.Text = inchpixel;
lbl_distbetweenlines.Text = (NUM_Distance.Value * 3.2808399m).ToString("0.##") + " ft";
lbl_footprint.Text = feet_fovH + " x " + feet_fovV + " ft";
lbl_turnrad.Text = (turnrad * 2 * 3.2808399).ToString("0") + " ft";
}
else
{
// Meters
lbl_area.Text = calcpolygonarea(list).ToString("#") + " m^2";
lbl_distance.Text = routetotal.ToString("0.##") + " km";
lbl_spacing.Text = NUM_spacing.Value.ToString("#") + " m";
lbl_grndres.Text = TXT_cmpixel.Text;
lbl_distbetweenlines.Text = NUM_Distance.Value.ToString("0.##") + " m";
lbl_footprint.Text = TXT_fovH.Text + " x " + TXT_fovV.Text + " m";
lbl_turnrad.Text = (turnrad * 2).ToString("0") + " m";
}
double flyspeedms = CurrentState.fromSpeedDisplayUnit((double)NUM_UpDownFlySpeed.Value);
lbl_pictures.Text = images.ToString();
lbl_strips.Text = ((int)(strips / 2)).ToString();
double seconds = ((routetotal * 1000.0) / ((flyspeedms) * 0.8));
// reduce flying speed by 20 %
lbl_flighttime.Text = secondsToNice(seconds);
seconds = ((routetotal * 1000.0) / (flyspeedms));
lbl_photoevery.Text = secondsToNice(((double)NUM_spacing.Value / flyspeedms));
map.HoldInvalidation = false;
if (!isMouseDown)
map.ZoomAndCenterMarkers("routes");
CalcHeadingHold();
}
internal double GetDistRouteOSM1(Router router, DateTime selectedDate)//расчет расстояния из OSM файла
{
List <Order> listOrders = SelectOrders(selectedDate);
List <PointLatLng> list = new List <PointLatLng>();
list.Add(new GMap.NET.PointLatLng(StartLat, StartLon));
double dist = 0;
try
{
// double[] currCoord = GetCurrentCoord(master, dateTimePicker1.Value);
double fromLat = StartLat;
double fromLon = StartLon;
for (int i = 0; i < listOrders.Count; i++)
{
if (router != null)
{
try
{
var profile = Vehicle.Car.Fastest();
var route = router.Calculate(profile, (float)fromLat, (float)fromLon,
(float)Convert.ToDouble(listOrders[i].Lat), (float)Convert.ToDouble(listOrders[i].Lon));
var routeGeoJson = route.ToGeoJson();
JObject CoordinateSearch = JObject.Parse(routeGeoJson.ToString());
IList <JToken> results = CoordinateSearch["features"].Children().ToList();
IList <SearchResult> searchResults = new List <SearchResult>();
SearchResult searchResult;
foreach (JToken result in results)
{
if (!result.ToString().Contains("\"type\": \"Point\""))
{
searchResult = JsonConvert.DeserializeObject <SearchResult>(result.ToString());
searchResults.Add(searchResult);
for (int d = 0; d < searchResult.geometry.coordinates.Length / 2; d++)
{
list.Add(new GMap.NET.PointLatLng(searchResult.geometry.coordinates[d, 1], searchResult.geometry.coordinates[d, 0]));
}
dist = Math.Round(Convert.ToDouble(searchResult.properties.distance), 3);
}
}
if (dist == 0)
{
list.Add(new GMap.NET.PointLatLng(Convert.ToDouble(listOrders[i].Lat), Convert.ToDouble(listOrders[i].Lon)));
}
}
catch
{
list.Add(new GMap.NET.PointLatLng(Convert.ToDouble(listOrders[i].Lat), Convert.ToDouble(listOrders[i].Lon)));
}
}
else
{
list.Add(new GMap.NET.PointLatLng(Convert.ToDouble(listOrders[i].Lat), Convert.ToDouble(listOrders[i].Lon)));
}
fromLat = Convert.ToDouble(listOrders[i].Lat);
fromLon = Convert.ToDouble(listOrders[i].Lon);
}
//dist = Math.Round(dist / 1000, 3);
//master.SetGMapRoute(list, dist, order.Id);
currentRoute = new GMapRoute(list, "Route" + Name);
currentRoute.IsVisible = true;
currentRoute.Stroke = new Pen(color[Id], 3);
}
catch
{
return(0);
}
return(dist);
}
private void map_OnRouteLeave(GMapRoute item)
{
if (marker != null)
{
try
{
if (routesOverlay.Markers.Contains(marker))
routesOverlay.Markers.Remove(marker);
}
catch { }
}
}
//ovde sam dodao parametar i graf sam po sebi kako bih mogao da manipulisem s grafovima manuelno/pesaci/vozila/taksi
public void drawDijkstraRoute(PointLatLng pt1, PointLatLng pt2, int i)
{
double ukupno = 0;
currentDijkstra = new GMapRoute("Dijkstra");
switch (i)
{
case 0:
//LUKA : za sve grafove koje su prethodno napravljeni brisem tooltiptexts za svaki cvor
//mozda moze da se dobije na efikasnosti ako se pamti koji je transport izabran pre ovog
izbrisiZnamenitosti();
//LUKA: ovo je sada <List<GMapMarker>,double>
var tmp = graph.getDijkstraRoute(pt1, pt2);
List <GMapMarker> listaMarkera = tmp.Item1;
//LUKA:prolazim kroz svaki marker, uzimam mu ime znamenitosti ako je ima, i ako je ima lepim markeru tooltiptext sa imenom znamenitosti
foreach (GMapMarker el in listaMarkera)
{
currentDijkstra.Points.Add(el.Position);
el.ToolTipText = uzimanjeZnamenitostiNaOsnovuIndeksa(int.Parse(el.Tag.ToString()));
if (!(el.ToolTipText).Equals(""))
{
el.ToolTip.Fill = Brushes.Black;
el.ToolTip.Foreground = Brushes.White;
el.ToolTipMode = MarkerTooltipMode.Always;
gmap.Overlays[0].Markers.Add(el);
}
//LUKA: dodajem marker overlay
}
ukupno = tmp.Item2;
break;
case 1:
izbrisiZnamenitosti();
var tmpPesaci = graphPesaci.getDijkstraRoute(pt1, pt2);
listaMarkera = tmpPesaci.Item1;
foreach (GMapMarker el in listaMarkera)
{
currentDijkstra.Points.Add(el.Position);
string znamenitost = uzimanjeZnamenitostiNaOsnovuIndeksa(int.Parse(el.Tag.ToString()));
if (znamenitost != "\"\"")
{
el.ToolTipText = znamenitost;
el.ToolTip.Fill = Brushes.Black;
el.ToolTip.Foreground = Brushes.White;
el.ToolTipMode = MarkerTooltipMode.Always;
gmap.Overlays[0].Markers.Add(el);
}
}
ukupno = tmpPesaci.Item2;
break;
case 2:
izbrisiZnamenitosti();
var tmpVozila = graphVozila.getDijkstraRoute(pt1, pt2);
listaMarkera = tmpVozila.Item1;
foreach (GMapMarker el in listaMarkera)
{
currentDijkstra.Points.Add(el.Position);
string znamenitost = uzimanjeZnamenitostiNaOsnovuIndeksa(int.Parse(el.Tag.ToString()));
if (!znamenitost.Equals("\"\""))
{
el.ToolTipText = znamenitost;
el.ToolTip.Fill = Brushes.Black;
el.ToolTip.Foreground = Brushes.White;
el.ToolTip.TextPadding = new Size(10, 10);
el.ToolTipMode = MarkerTooltipMode.Always;
gmap.Overlays[0].Markers.Add(el);
}
}
ukupno = tmpVozila.Item2;
break;
case 3:
izbrisiZnamenitosti();
var tmpTaxi = graphTaxi.getDijkstraRoute(pt1, pt2);
listaMarkera = tmpTaxi.Item1;
foreach (GMapMarker el in listaMarkera)
{
currentDijkstra.Points.Add(el.Position);
string znamenitost = uzimanjeZnamenitostiNaOsnovuIndeksa(int.Parse(el.Tag.ToString()));
if (!znamenitost.Equals("\"\""))
{
el.ToolTipText = znamenitost;
el.ToolTip.Fill = Brushes.Black;
el.ToolTip.Foreground = Brushes.White;
el.ToolTipMode = MarkerTooltipMode.Always;
gmap.Overlays[0].Markers.Add(el);
}
}
ukupno = tmpTaxi.Item2;
break;
}
currentDijkstra.Stroke = new Pen(Color.Green, 5);
gmap.Overlays[0].Routes.Add(currentDijkstra);
//VLADAN NOVO: Rute "za spajanje" sa grafom
List <PointLatLng> ptsStart = new List <PointLatLng>();
List <PointLatLng> ptsFinish = new List <PointLatLng>();
ptsStart.Add(first.Position);
ptsStart.Add(positions[getNearestPoint(first)]);
GMapRoute routeStart = new GMapRoute(ptsStart, "");
ptsFinish.Add(second.Position);
ptsFinish.Add(positions[getNearestPoint(second)]);
GMapRoute routeFinish = new GMapRoute(ptsFinish, "");
routeStart.Stroke = new Pen(Color.Blue, 5);
routeFinish.Stroke = new Pen(Color.Blue, 5);
gmap.Overlays[0].Routes.Add(routeStart);
gmap.Overlays[0].Routes.Add(routeFinish);
//VLADAN NOVO: razdaljina od pocetka/kraja do prvog u grafu
double distStart = distance(first, graph.getMarkerFromInt(getNearestPoint(first)));
double distFinish = distance(second, graph.getMarkerFromInt(getNearestPoint(second)));
switch (i)
{
case 0:
//LUKA : zaoukruzivanje na 2/3 decimale
//VLADAN NOVO: Ubacio i "random cvorove"
tbUkupno.Text = Math.Round(ukupno + distStart + distFinish, 3) + "km";
break;
case 1:
//brzina coveka kad pesaci je u proseku 4.5 km/h sto je 0.075 km/minut
double brzina = 0.075;
double vreme = (distStart + distFinish + ukupno) / brzina;
tbUkupno.Text = Math.Round(vreme, 2).ToString() + " minuta";
break;
case 2:
tbUkupno.Text = Math.Round(ukupno + (distFinish + distStart) / 0.075, 2).ToString() + " minuta";
break;
case 3:
ukupno += 2.8;
if (tarifa == 1)
{
ukupno += 1;
}
if (tarifa == 2)
{
ukupno += 0.5;
}
tbUkupno.Text = Math.Round(ukupno, 2).ToString() + " $";
break;
}
}
