public WayPoint getNextWpt(WayPoint pos)
{
float dist=pos.getDistance(ruta[currWptID]);
if (dist <= lastdistance)
lastdistance = dist;
else if (dist > lastdistance && lastdistance < WptRange)
{
lastdistance = float.PositiveInfinity;
if (currWptID < ruta.Count - 1)
currWptID++;
else
currWptID = 0;
}
return ruta[currWptID];
}
public WayPoint getNextWpt(WayPoint pos)
{
float dist = pos.getDistance(ruta[currWptID]);
if (dist <= lastdistance)
{
lastdistance = dist;
}
else if (dist > lastdistance && lastdistance < WptRange)
{
lastdistance = float.PositiveInfinity;
if (currWptID < ruta.Count - 1)
{
currWptID++;
}
else
{
currWptID = 0;
}
}
return(ruta[currWptID]);
}
public float getDistance(WayPoint b)
{
return(WayPoint.getDistance(this, b));
}
protected override void OnPaint(PaintEventArgs e)
{
try
{
Bitmap bmp = new Bitmap(Width, Height);
Graphics g = Graphics.FromImage(bmp);
Bitmap home_icon = global::UAVConsole.Properties.Resources.ICO_dossier_home_ico_64x64;
Point casa, avion, destino;
home_icon.MakeTransparent();
map.OnPaint(g, Width, Height);
PintarHistorico(g);
if (!double.IsNaN(home.Latitude) && !double.IsNaN(home.Longitude))
{
casa = new Point();
casa.X = (int)map.getdX(home) + Width / 2;
casa.Y = (int)map.getdY(home) + Height / 2;
}
else
{
casa = Point.Empty;
}
if (plane != null && !double.IsNaN(plane.Latitude) && !double.IsNaN(plane.Longitude) &&
(plane.Latitude != 0 || plane.Longitude != 0))
{
avion = new Point();
avion.X = (int)map.getdX(plane) + Width / 2;
avion.Y = (int)map.getdY(plane) + Height / 2;
}
else
{
avion = Point.Empty;
}
if (target != null && !double.IsNaN(target.Latitude) && !double.IsNaN(target.Longitude) &&
(target.Latitude != 0 || target.Longitude != 0))
{
destino = new Point();
destino.X = (int)map.getdX(target) + Width / 2;
destino.Y = (int)map.getdY(target) + Height / 2;
}
else
{
destino = Point.Empty;
}
PintarOtherPlanes(g);
PintarRuta(g);
PintarSoftWpt(g);
try
{
if (!casa.IsEmpty)
{
g.DrawImage(home_icon, casa.X - 32 / 2, casa.Y - 32 / 2, 32, 32);
}
}
catch (Exception) { }
if (!avion.IsEmpty)
{
DrawHome(g, avion, casa);
if (!float.IsNaN(rumboHold))
{
DrawRumboHold(g, avion, rumboHold);
}
else
{
DrawTarget(g, avion, destino);
}
}
else if (!destino.IsEmpty)
{
DrawTarget(g, Point.Empty, destino);
}
if (!avion.IsEmpty)
{
Font mifont = new Font(Font.SystemFontName, 12.0f);
String cad1;
if (esta_dentro)
{
cad1 = "Cursor Lon: " + map.GetLongitude(x_curr - Width / 2).ToString("0.000000") + " Lat: " + map.GetLatitude(y_curr - Height / 2).ToString("0.000000") + " ";
}
else
{
cad1 = "Plane Lon: " + plane.Longitude.ToString("0.000000") + " Lat: " + plane.Latitude.ToString("0.000000") + " ";
}
String cad2 = "Dist: " + home.getDistance(plane).ToString("0.000") + "Km.";
SizeF size1 = g.MeasureString(cad1, mifont);
SizeF size2 = g.MeasureString(cad2, mifont);
if (size1.Width + size2.Width > this.Width)
{
g.FillRectangle(Brushes.Yellow, 0, bmp.Height - 2 * mifont.Height, Math.Max(size1.Width, size2.Width), 2 * mifont.Height);
g.DrawString(cad1, mifont, Brushes.Red, 0.0f, bmp.Height - mifont.Height);
g.DrawString(cad2, mifont, Brushes.Red, 0.0f, bmp.Height - 2 * mifont.Height);
}
else
{
g.FillRectangle(Brushes.Yellow, 0, bmp.Height - mifont.Height, size1.Width, mifont.Height);
g.DrawString(cad1, mifont, Brushes.Red, 0.0f, bmp.Height - mifont.Height);
g.FillRectangle(Brushes.Yellow, this.Width - size2.Width, bmp.Height - mifont.Height, size2.Width, mifont.Height);
g.DrawString(cad2, mifont, Brushes.Red, this.Width - size2.Width, bmp.Height - mifont.Height);
}
}
else if (esta_dentro)
{
Font mifont = new Font(Font.SystemFontName, 12.0f);
String cad1 = "Cursor Lon: " + map.GetLongitude(x_curr - Width / 2).ToString("0.000000") + " Lat: " + map.GetLatitude(y_curr - Height / 2).ToString("0.000000") + " ";
SizeF size1 = g.MeasureString(cad1, mifont);
g.FillRectangle(Brushes.Yellow, 0, bmp.Height - mifont.Height, size1.Width, mifont.Height);
g.DrawString(cad1, mifont, Brushes.Red, 0.0f, bmp.Height - mifont.Height);
}
if (ruta.Count > 0 || mensaje != null)
{
Font mifont = new Font(Font.SystemFontName, 12.0f);
String cad3 = "";
if (mensaje != null)
{
cad3 += mensaje;
}
if (ruta.Count > 0)
{
if (mensaje != null)
{
cad3 += " ";
}
cad3 += "Ruta: " + rutaKM.ToString("0.000") + "Km.";
}
SizeF size3 = g.MeasureString(cad3, mifont);
g.FillRectangle(Brushes.Yellow, this.Width - size3.Width, this.Height - size3.Height, size3.Width, size3.Height);
g.DrawString(cad3, mifont, Brushes.Red, this.Width - size3.Width, this.Height - size3.Height);
}
g.Dispose();
e.Graphics.DrawImage(bmp, 0, 0);
}
catch (Exception) { }
}