public DialogKMLPath(Waypoint_Path_Gen wpg, GMAP gmap, TreeView treeview, double lat, double lon)
{
_lat = lat;
_lon = lon;
_wpg = wpg;
_gmap = gmap;
_treeview = treeview;
_current_path_index = -1;
_path = new Models.Path();
_wp = new WayPoints();
InitializeComponent();
// Fill POI combobox
cmbKLMPOI.Items.Clear();
for (int i = 0; i < _wpg.POICount(); i++)
{
cmbKLMPOI.Items.Add(_wpg.POIPointAt(i).name);
}
// Generate EMpty Path
_path.Add_Empty_Path(_wpg, _gmap, "Empty Path", "KML");
_current_path_index = _wpg.PathCount() - 1;
}
public void Delete_gMapPath(Models.Path path)
{
string name = path.name;
int path_id = path.id;
LinkedList <WayPoints> wplist = path.waypoints;
int wpcount = wplist.Count;
// Loop thru Paths
int route_count = _overroutes.Routes.Count;
for (int i = 0; i < route_count; i++)
{
GMapRoute route = _overroutes.Routes.ElementAt(i);
int routeid = Convert.ToInt16(route.Tag);
if (routeid == path_id)
{
_overroutes.Routes.RemoveAt(i);
break;
}
}
route_count = _overroutes.Routes.Count;
// Loop thru Waypoints
bool found = false;
int wp_count = _overmarkers.Markers.Count;
do
{
foreach (GMapMarker marker in _overmarkers.Markers)
{
string id_text = Convert.ToString(marker.Tag);
int index = id_text.IndexOf(".");
if (index != -1)
{
int indexwp = Convert.ToInt16(id_text.Substring(index + 1));
int indexpath = Convert.ToInt16(id_text.Substring(0, index));
if (path_id == indexpath)
{
_overmarkers.Markers.Remove(marker);
found = true;
break;
}
else
{
found = false;
}
}
else
{
found = false;
}
}
} while (found);
}
public void Add_gMapPath(Models.Path path, bool visible)
{
string name = path.name;
int id = path.id;
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));
_drone_image = _drone_image_notselected;
_drone_image = RotateImage(_drone_image_notselected, wp.head);
GMapMarker 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(id) + "." + Convert.ToString(count);
marker.IsVisible = visible;
marker.IsHitTestVisible = true;
marker.ToolTipText = "WP(" + Convert.ToString(count) + ") - Alt:" + Convert.ToString(wp.alt);
_overmarkers.Markers.Add(marker);
wp.marker = marker;
count++;
}
GMapRoute route = new GMapRoute(points, name);
route.Stroke = new Pen(Color.Blue, 2);
route.Tag = id;
route.IsVisible = visible;
_overroutes.Routes.Add(route);
}
}
private void BuildPath()
{
int polyindex = cmbPolyPath.SelectedIndex;
if (polyindex == -1)
{
return;
}
// Get Path
double lat, lat_next;
double lon, lon_next;
double alt = Convert.ToDouble(txtAltPolyPath.Text);
double head;
int gimblemode = 0;
double gimblepitch = 0;
double curvesize = 0;
double rotdir = 0;
int[,] actions = new int[, ] {
{ -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }
};
Models.Shape poly = _wpg.ShapeAt(polyindex);
LinkedList <PolyPoint> points = poly.points;
LinkedList <WayPoints> waypoints = new LinkedList <WayPoints>();
string path_name = poly.name;
for (int i = 0; i < points.Count; i++)
{
lat = points.ElementAt(i).lat;
lon = points.ElementAt(i).lon;
if (i < (points.Count - 1))
{
lat_next = points.ElementAt(i + 1).lat;
lon_next = points.ElementAt(i + 1).lon;
head = GPS.GPS_Bearing(lat, lon, lat_next, lon_next);
}
else
{
lat_next = points.ElementAt(0).lat;
lon_next = points.ElementAt(0).lon;
head = GPS.GPS_Bearing(lat, lon, lat_next, lon_next);
}
_wp.Add_Waypoint_List(waypoints, lat, lon, alt, head, curvesize, rotdir, gimblemode, gimblepitch, actions);
}
// Add Path
if (_current_path_index != -1)
{
_wpg.DeletePath(_wpg.PathAt(_current_path_index));
}
int index = cmbPolyPath.SelectedIndex;
path_name = _wpg.ShapeAt(index).name;
if (path_name == "")
{
path_name = "Untitled - Perimeter";
}
_path.Add_Path(_wpg, _gmap, path_name, "Perimeter", waypoints);
index = _wpg.PathCount() - 1;
_current_path_index = index;
Models.Path path = _wpg.PathAt(index);
string exist_type = path.type;
bool exist_select = path.selected;
bool exist_visible = path.visible;
if (exist_type == "Perimeter")
{
_wpg.ChangePathWP(index, waypoints);
string pathname = path.name;
int id = path.id;
string type = path.type;
_gmap.Delete_gMapPath(path);
Models.Path newpath = new Models.Path();
newpath.name = pathname;
newpath.id = id;
newpath.type = type;
newpath.selected = exist_select;
newpath.visible = exist_visible;
newpath.waypoints = waypoints;
_gmap.Add_gMapPath(path, false);
}
_gmap.ReDrawgMap();
}
private void BuildKMLPath()
{
// Create Path
if (_current_path_index != -1)
{
_wpg.DeletePath(_wpg.PathAt(_current_path_index));
}
string path_name = txtKMLName.Text;
if (path_name == "")
{
path_name = _kml_filename;
}
LinkedList <WayPoints> wp_list = new LinkedList <WayPoints>();
double lat, lon, alt;
int gimblemode = 0;
double gimblepitch = 0;
double curvesize = 0;
double rotdir = 0;
int[,] actions = new int[, ] {
{ -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }
};
LinkedList <WayPoints> new_list = new LinkedList <WayPoints>();
/* Generate Waypoints for each coordinate */
for (int i = 0; i < _kml_point_count; i++)
{
lat = _kml_points[i, 0];
lon = _kml_points[i, 1];
alt = _kml_points[i, 2];
double heading = 0.0;
double poi_lat = 0;
double poi_lon = 0;
/* Calculate Heading for each Waypoint */
if (chKLMPOI.Checked)
{
int poi_index = cmbKLMPOI.SelectedIndex;
if (poi_index == -1)
{
poi_lat = _lat;
poi_lon = _lon;
}
else
{
POIPoints tmp_point = _wpg.POIPointAt(poi_index);
poi_lat = tmp_point.lat;
poi_lon = tmp_point.lon;
}
heading = GPS.GPS_Bearing(lat, lon, poi_lat, poi_lon);
gimblemode = 2;
double distance = GPS.GPS_Distance(lat, lon, poi_lat, poi_lon, Form1.Globals.gps_radius);
gimblepitch = -GPS.RadiansToDegrees(Math.Atan(alt / distance));
gimblemode = 2;
}
else
{
if (i != _kml_point_count - 1)
{
double lat_next = _kml_points[i + 1, 0];
double lon_next = _kml_points[i + 1, 1];
heading = GPS.GPS_Bearing(lat, lon, lat_next, lon_next);
}
}
_wp.Add_Waypoint_List(new_list, lat, lon, alt, heading, curvesize, rotdir, gimblemode, gimblepitch, actions);
//dgvWaypoints.Rows.Add(Globals.waypoint_count + i+1, Convert.ToString(lat), Convert.ToString(lon), Convert.ToString(alt));
}
_path.Add_Path(_wpg, _gmap, path_name, "KML", new_list);
int index = _wpg.PathCount() - 1;
_current_path_index = index;
Models.Path path = _wpg.PathAt(index);
string exist_type = path.type;
bool exist_select = path.selected;
bool exist_visible = path.visible;
if (exist_type == "KML")
{
_wpg.ChangePathWP(index, new_list);
string pathname = path.name;
int id = path.id;
string type = path.type;
_gmap.Delete_gMapPath(path);
Models.Path newpath = new Models.Path();
newpath.name = pathname;
newpath.id = id;
newpath.type = type;
newpath.selected = exist_select;
newpath.visible = exist_visible;
newpath.waypoints = new_list;
_gmap.Add_gMapPath(path, false);
}
_gmap.ReDrawgMap();
GMAPTree.Update_GMapTree(_wpg, _treeview);
}
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;
}