public void Add_gMapPoly(Models.Shape poly, bool visible)
{
string name = poly.name;
LinkedList <PolyPoint> pntlist = poly.points;
int pntcount = pntlist.Count;
List <PointLatLng> points = new List <PointLatLng>();
foreach (PolyPoint pnt in pntlist)
{
points.Add(new PointLatLng(pnt.lat, pnt.lon));
}
GMapPolygon gmpoly = new GMapPolygon(points, name);
gmpoly.Stroke = new Pen(Color.Yellow, 1);
gmpoly.Fill = new SolidBrush(Color.FromArgb(25, Color.Yellow));
gmpoly.Tag = poly.name;
gmpoly.IsVisible = visible;
_overpolys.Polygons.Add(gmpoly);
}
public void Delete_gMapPoly(Models.Shape poly)
{
string name = poly.name;
LinkedList <PolyPoint> polylist = poly.points;
int polycount = polylist.Count;
// Loop thru Map Polygons
int poly_count = _overpolys.Polygons.Count;
for (int i = 0; i < poly_count; i++)
{
GMapPolygon gmpoly = _overpolys.Polygons.ElementAt(i);
string routename = Convert.ToString(gmpoly.Tag);
if (routename == name)
{
_overpolys.Polygons.RemoveAt(i);
break;
}
}
}
private void btnReadKMLPoly_Click(object sender, EventArgs e)
{
if (openFileDialog1.ShowDialog() == DialogResult.OK)
{
/* Get kml filename */
string kml_file = openFileDialog1.FileName;
if (kml_file.Contains(".kml"))
{
System.IO.TextReader stream = System.IO.File.OpenText(kml_file);
SharpKml.Engine.KmlFile file = KmlFile.Load(stream);
Kml _kml = file.Root as Kml;
SharpKml.Dom.Placemark[] tempPlaceMarks = new SharpKml.Dom.Placemark[1000];
SharpKml.Dom.Placemark tmp_placemark = new SharpKml.Dom.Placemark();
CoordinateCollection coordinates = new CoordinateCollection();
Form1.Globals.poly_point_count = 0;
if (_kml != null)
{
SharpKml.Base.Vector vector;
double lat;
double lon;
double alt;
string name = "";
foreach (var placemark in _kml.Flatten().OfType <SharpKml.Dom.Placemark>())
{
name = placemark.Name;
}
Models.Shape shape = new Models.Shape();
shape.name = name;
foreach (var linering in _kml.Flatten().OfType <LinearRing>())
{
coordinates = linering.Coordinates;
int num = coordinates.Count;
LinkedList <PolyPoint> shape_points = new LinkedList <PolyPoint>();
for (int i = 0; i < num; i++)
{
PolyPoint point = new PolyPoint();
vector = coordinates.ElementAt(i);
lat = vector.Latitude;
lon = vector.Longitude;
alt = (double)vector.Altitude;
point.lat = lat;
point.lon = lon;
point.alt = alt;
shape_points.AddLast(point);
//dgvWaypoints.Rows.Add(Globals.waypoint_count, Convert.ToString(lat), Convert.ToString(lon), Convert.ToString(30));
}
shape.points = shape_points;
shape.visible = true;
_wpg.AddShape(shape);
_gmap.Add_gMapPoly(shape, true);
}
}
}
GMAPTree.Update_GMapTree(_wpg, _treeview);
this.Close();
}
}
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();
}
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 BuildPolyGridPath()
{
if (!_build)
{
return;
}
// Polygon Search Grid
//
double altitude = Convert.ToDouble(txtGridAlt.Text);
_camera_width = (2 * (Math.Tan(GPS.DegreesToRadians(_cam_ang_hor / 2)) * altitude));
_camera_height = (2 * (Math.Tan(GPS.DegreesToRadians(_cam_ang_ver / 2)) * altitude));
// Get Poly Name and points
//
Double[,] point_arr = new double[1000, 3];
WPG_Vector[,] poly_vectors = new WPG_Vector[1000, 2];
WPG_Vector[,] path_vectors = new WPG_Vector[1000, 2];
//int poly_index = cmbShape.SelectedIndex;
if (_poly_index == -1)
{
MessageBox.Show("Error : Select a Polygon");
return;
}
LinkedList <PolyPoint> points = new LinkedList <PolyPoint>();
PolyPoint point = new PolyPoint();
Models.Shape poly = _wpg.ShapeWithId(_poly_intid);
rtbPoly.Clear();
rtbPoly.AppendText("Polygon : " + poly.name + "\n");
points = poly.points;
int poly_count = points.Count();
double lat_max = -1000.0;
double lon_max = -1000.0;
double lat_min = 1000.0;
double lon_min = 1000.0;
//LinkedList<WayPoints> new_list = new LinkedList<WayPoints>();
int[,] no_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 }
};
int[,] pict_actions = new int[, ] {
{ 0, 2000 }, { 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 }
};
for (int i = 0; i < poly_count; i++)
{
point = points.ElementAt(i);
double lat = point.lat;
double lon = point.lon;
double alt = point.alt;
//Add_Waypoint_List(new_list, lat, lon, alt, 0, 0, 0, 0, 0, no_actions);
point_arr[i, 0] = lat;
point_arr[i, 1] = lon;
point_arr[i, 2] = alt;
if (lat > lat_max)
{
lat_max = lat;
}
if (lat < lat_min)
{
lat_min = lat;
}
if (lon > lon_max)
{
lon_max = lon;
}
if (lon < lon_min)
{
lon_min = lon;
}
}
double delta_lat = lat_max - lat_min;
double delta_lon = lon_max - lon_min;
// Generate Polygon Vectors
int vector_count = 0;
for (int i = 0; i < poly_count - 1; i++)
{
poly_vectors[vector_count, 0].lat = point_arr[i, 0];
poly_vectors[vector_count, 0].lon = point_arr[i, 1];
poly_vectors[vector_count, 1].lat = point_arr[i + 1, 0];
poly_vectors[vector_count, 1].lon = point_arr[i + 1, 1];
vector_count++;
}
rtbPoly.AppendText("Poly Vector Count : " + Convert.ToString(vector_count) + "\n");
// Generate Potential Paths
LinkedList <WayPoints> new_list = new LinkedList <WayPoints>();
int path_count = 0;
double head = Convert.ToDouble(txtHeading.Text);
double bearing = head - 90.0;
double path_delta = _camera_width * ((100 - _over_wid) / 100);
double dist = GPS.GPS_Distance(lat_min, lon_min, lat_max, lon_max, Form1.Globals.gps_radius);
int num_path = Convert.ToInt16(dist / path_delta);
double lat_base = lat_min;
double lon_base = lon_min;
if (head >= -90 & head < 90)
{
lat_base = lat_min;
lon_base = lon_max;
}
// Generate First Potential Path
double new_lat1 = GPS.GPS_Lat_BearDist(lat_base, lon_base, bearing, 1000, Form1.Globals.gps_radius);
double new_lon1 = GPS.GPS_Lon_BearDist(lat_base, lon_base, new_lat1, bearing, 1000, Form1.Globals.gps_radius);
double new_lat2 = GPS.GPS_Lat_BearDist(lat_base, lon_base, bearing, -1000, Form1.Globals.gps_radius);
double new_lon2 = GPS.GPS_Lon_BearDist(lat_base, lon_base, new_lat2, bearing, -1000, Form1.Globals.gps_radius);
double bear = GPS.GPS_Bearing(new_lat1, new_lon1, new_lat2, new_lon2);
// Generate Path Waypoints to show paths
//_wp.Add_Waypoint_List(new_list, new_lat1, new_lon1, 30, 0, 0, 0, 0, 0, no_actions);
//_wp.Add_Waypoint_List(new_list, new_lat2, new_lon2, 30, 0, 0, 0, 0, 0, no_actions);
path_vectors[path_count, 0].lat = new_lat1;
path_vectors[path_count, 0].lon = new_lon1;
path_vectors[path_count, 0].bearing = bearing;
path_vectors[path_count, 1].lat = new_lat2;
path_vectors[path_count, 1].lon = new_lon2;
path_vectors[path_count, 1].bearing = bearing;
path_count++;
// Generate remaining Paths
double new_lat_base, new_lon_base;
for (int i = 0; i < num_path; i++)
{
new_lat_base = GPS.GPS_Lat_BearDist(lat_base, lon_base, 0 + bearing, path_delta * i, Form1.Globals.gps_radius);
new_lon_base = GPS.GPS_Lon_BearDist(lat_base, lon_base, new_lat_base, 0 + bearing, path_delta * i, Form1.Globals.gps_radius);
new_lat1 = GPS.GPS_Lat_BearDist(new_lat_base, new_lon_base, bearing + 90, 1000, Form1.Globals.gps_radius);
new_lon1 = GPS.GPS_Lon_BearDist(new_lat_base, new_lon_base, new_lat1, bearing + 90, 1000, Form1.Globals.gps_radius);
new_lat2 = GPS.GPS_Lat_BearDist(new_lat_base, new_lon_base, bearing + 270, 1000, Form1.Globals.gps_radius);
new_lon2 = GPS.GPS_Lon_BearDist(new_lat_base, new_lon_base, new_lat2, bearing + 270, 1000, Form1.Globals.gps_radius);
bear = GPS.GPS_Bearing(new_lat1, new_lon1, new_lat2, new_lon2);
//_wp.Add_Waypoint_List(new_list, new_lat1, new_lon1, 30, 0, 0, 0, 0, 0, no_actions);
//_wp.Add_Waypoint_List(new_list, new_lat2, new_lon2, 30, 0, 0, 0, 0, 0, no_actions);
path_vectors[path_count, 0].lat = new_lat1;
path_vectors[path_count, 0].lon = new_lon1;
path_vectors[path_count, 0].bearing = bearing;
path_vectors[path_count, 1].lat = new_lat2;
path_vectors[path_count, 1].lon = new_lon2;
path_vectors[path_count, 1].bearing = bearing;
path_count++;
}
// Check for intersections of potential paths with polygon borders
Form1.WPG_PointVector pvec1 = new Form1.WPG_PointVector();
Form1.WPG_PointVector pvec2 = new Form1.WPG_PointVector();
bool lines_intersect;
bool segments_intersect;
PointF closep1;
PointF closep2;
bool firstpnt = true;
bool firstleg = true;
double heading = 0.0;
double lat1 = 0.0;
double lon1 = 0.0;
int gimblemode = 0;
double curvesize = 0;
double rotdir = 0;
bool startend = chkRectHome.Checked;
bool video = radioVideo.Checked;
int leg_count = 0;
if (startend)
{
_wp.Add_Waypoint_List(new_list, _lat, _lon, altitude, 0.0, curvesize, rotdir, gimblemode, 0.0, no_actions);
}
for (int i = 1; i < path_count; i++)
{
pvec1.pnt1.lat = path_vectors[i, 0].lat;
pvec1.pnt1.lon = path_vectors[i, 0].lon;
pvec1.pnt2.lat = path_vectors[i, 1].lat;
pvec1.pnt2.lon = path_vectors[i, 1].lon;
for (int j = 0; j < vector_count; j++)
{
PointF intersection;
pvec2.pnt1.lat = poly_vectors[j, 0].lat;
pvec2.pnt1.lon = poly_vectors[j, 0].lon;
pvec2.pnt2.lat = poly_vectors[j, 1].lat;
pvec2.pnt2.lon = poly_vectors[j, 1].lon;
GPS.GPS_Intersection(pvec1, pvec2, out lines_intersect, out segments_intersect, out intersection, out closep1, out closep2);
if (lines_intersect & segments_intersect)
{
if (firstpnt)
{
lat1 = Convert.ToDouble(intersection.X);
lon1 = Convert.ToDouble(intersection.Y);
firstpnt = false;
}
else
{
double lat = Convert.ToDouble(intersection.X);
double lon = Convert.ToDouble(intersection.Y);
if (firstleg)
{
heading = GPS.GPS_Bearing(lat1, lon1, lat, lon);
firstleg = false;
}
_wp.Add_Leg_List(new_list, lat1, lon1, lat, lon, altitude, heading, 0, 0, 0, 0, pict_actions, video, _camera_height, _over_hgt);
leg_count++;
firstpnt = true;
}
}
}
}
if (startend)
{
_wp.Add_Waypoint_List(new_list, _lat, _lon, altitude, 0.0, curvesize, rotdir, gimblemode, 0.0, no_actions);
}
rtbPoly.AppendText("Leg Count :" + Convert.ToString(leg_count) + "\n");
int wp_count = new_list.Count;
rtbPoly.AppendText("Waypoint Count :" + Convert.ToString(wp_count) + "\n");
// Save Path
// Save Path
if (_new_path & _first_pass)
{
String path_name = txtPolyPathName.Text;
if (path_name == "")
{
path_name = "Untitled - Polygon";
}
_path.Add_Path(_wpg, _gmap, path_name, "Polygon", new_list);
_path = _wpg.PathAt(_wpg.PathCount() - 1);
_current_intid = _path.internal_id;
_first_pass = false;
}
else
{
_wpg.ChangePathWPIntId(_current_intid, new_list);
//Models.Path path = _wpg.PathAt(_current_path_index);
//_gmap.Delete_gMapPath(path);
//_gmap.Add_gMapPath(path, false);
}
_poly.visible = true;
_gmap.ReDrawgMap();
}
