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Common.cs
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Common.cs
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using GMap.NET;
using GMap.NET.WindowsForms;
using GMap.NET.WindowsForms.Markers;
using log4net;
using MissionPlanner.ArduPilot;
using MissionPlanner.Maps;
using MissionPlanner.Utilities;
using System;
using System.Diagnostics;
using System.Drawing;
using System.Linq;
using System.Reflection;
using System.Runtime.InteropServices;
using System.Text.RegularExpressions;
using System.Threading;
using System.Windows.Forms;
namespace MissionPlanner
{
public static class Common
{
private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
public static GMapMarker getMAVMarker(MAVState MAV, GMapOverlay overlay = null)
{
PointLatLng portlocation = MAV.cs.Location;
if(overlay!= null)
{
var existing = overlay.Markers.Where((a)=>a.Tag == MAV).ToArray();
if (existing.Count() > 1)
{
existing.Skip(1).ToArray().ForEach((a) => { overlay.Markers.Remove(a);});
}
if(existing.Count() > 0) {
var item = existing.First();
if (item is GMapMarkerPlane)
{
var itemp = (GMapMarkerPlane)item;
itemp.Position = portlocation;
itemp.Heading = MAV.cs.yaw;
itemp.Cog = MAV.cs.groundcourse;
itemp.Target = MAV.cs.target_bearing;
itemp.Nav_bearing = MAV.cs.nav_bearing;
itemp.Radius = (float)CurrentState.fromDistDisplayUnit(MAV.cs.radius);
itemp.IsActive = MAV == MainV2.comPort?.MAV;
return null;
}
else if (item is GMapMarkerQuad)
{
var itemq = (GMapMarkerQuad)item;
itemq.Position = portlocation;
itemq.Heading = MAV.cs.yaw;
itemq.Cog = MAV.cs.groundcourse;
itemq.Target = MAV.cs.nav_bearing;
itemq.Sysid = MAV.sysid;
itemq.IsActive = MAV == MainV2.comPort?.MAV;
return null;
}
else if (item is GMapMarkerRover)
{
var itemr = (GMapMarkerRover)item;
itemr.Position = portlocation;
itemr.Heading = MAV.cs.yaw;
itemr.Cog = MAV.cs.groundcourse;
itemr.Target = MAV.cs.target_bearing;
itemr.Nav_bearing = MAV.cs.nav_bearing;
itemr.IsActive = MAV == MainV2.comPort?.MAV;
return null;
}
else
{
existing.ForEach((a)=> overlay.Markers.Remove(a));
}
}
}
if (MAV.aptype == MAVLink.MAV_TYPE.FIXED_WING ||
MAV.aptype >= MAVLink.MAV_TYPE.VTOL_DUOROTOR && MAV.aptype <= MAVLink.MAV_TYPE.VTOL_RESERVED5)
{
return new GMapMarkerPlane(
MAV.sysid - 1,
portlocation,
MAV.cs.yaw,
MAV.cs.groundcourse,
MAV.cs.nav_bearing,
MAV.cs.target_bearing,
(float)CurrentState.fromDistDisplayUnit(MAV.cs.radius))
{
IsActive = MAV == MainV2.comPort?.MAV,
ToolTipText = ArduPilot.Common.speechConversion(MAV, "" + Settings.Instance["mapicondesc"]),
ToolTipMode = String.IsNullOrEmpty(Settings.Instance["mapicondesc"]) ?
MarkerTooltipMode.Never :
MarkerTooltipMode.Always,
Tag = MAV
};
}
else if (MAV.aptype == MAVLink.MAV_TYPE.GROUND_ROVER)
{
return new GMapMarkerRover(
portlocation,
MAV.cs.yaw,
MAV.cs.groundcourse,
MAV.cs.nav_bearing,
MAV.cs.target_bearing)
{
IsActive = MAV == MainV2.comPort?.MAV,
ToolTipText = ArduPilot.Common.speechConversion(MAV, "" + Settings.Instance["mapicondesc"]),
ToolTipMode = String.IsNullOrEmpty(Settings.Instance["mapicondesc"]) ?
MarkerTooltipMode.Never :
MarkerTooltipMode.Always,
Tag = MAV
};
}
else if (MAV.aptype == MAVLink.MAV_TYPE.SURFACE_BOAT)
{
return new GMapMarkerBoat(
portlocation,
MAV.cs.yaw,
MAV.cs.groundcourse,
MAV.cs.nav_bearing,
MAV.cs.target_bearing)
{
IsActive = MAV == MainV2.comPort?.MAV,
ToolTipText = ArduPilot.Common.speechConversion(MAV, "" + Settings.Instance["mapicondesc"]),
ToolTipMode = String.IsNullOrEmpty(Settings.Instance["mapicondesc"]) ?
MarkerTooltipMode.Never :
MarkerTooltipMode.Always,
Tag = MAV
};
}
else if (MAV.aptype == MAVLink.MAV_TYPE.SUBMARINE)
{
return new GMapMarkerSub(
portlocation,
MAV.cs.yaw,
MAV.cs.groundcourse,
MAV.cs.nav_bearing,
MAV.cs.target_bearing)
{
IsActive = MAV == MainV2.comPort?.MAV,
ToolTipText = ArduPilot.Common.speechConversion(MAV, "" + Settings.Instance["mapicondesc"]),
ToolTipMode = String.IsNullOrEmpty(Settings.Instance["mapicondesc"]) ?
MarkerTooltipMode.Never :
MarkerTooltipMode.Always,
Tag = MAV
};
}
else if (MAV.aptype == MAVLink.MAV_TYPE.HELICOPTER)
{
return new GMapMarkerHeli(
portlocation,
MAV.cs.yaw,
MAV.cs.groundcourse,
MAV.cs.nav_bearing)
{
IsActive = MAV == MainV2.comPort?.MAV,
ToolTipText = ArduPilot.Common.speechConversion(MAV, "" + Settings.Instance["mapicondesc"]),
ToolTipMode = String.IsNullOrEmpty(Settings.Instance["mapicondesc"]) ?
MarkerTooltipMode.Never :
MarkerTooltipMode.Always,
Tag = MAV
};
}
else if (MAV.cs.firmware == Firmwares.ArduTracker)
{
return new GMapMarkerAntennaTracker(portlocation, MAV.cs.yaw, MAV.cs.target_bearing)
{
Tag = MAV
};
}
else if (MAV.aptype == MAVLink.MAV_TYPE.COAXIAL)
{
return new GMapMarkerSingle(
portlocation,
MAV.cs.yaw,
MAV.cs.groundcourse,
MAV.cs.nav_bearing,
MAV.sysid)
{
IsActive = MAV == MainV2.comPort?.MAV,
Tag = MAV
};
}
else if (MAV.cs.firmware == Firmwares.ArduCopter2 || MAV.aptype == MAVLink.MAV_TYPE.QUADROTOR)
{
if (MAV.param.ContainsKey("AVD_W_DIST_XY") && MAV.param.ContainsKey("AVD_F_DIST_XY"))
{
var w = MAV.param["AVD_W_DIST_XY"].Value;
var f = MAV.param["AVD_F_DIST_XY"].Value;
return new GMapMarkerQuad(
portlocation,
MAV.cs.yaw,
MAV.cs.groundcourse,
MAV.cs.nav_bearing,
MAV.sysid)
{
IsActive = MAV == MainV2.comPort?.MAV,
danger = (int)f,
warn = (int)w,
Tag = MAV
};
}
return new GMapMarkerQuad(
portlocation,
MAV.cs.yaw,
MAV.cs.groundcourse,
MAV.cs.nav_bearing,
MAV.sysid)
{
IsActive = MAV == MainV2.comPort?.MAV,
Tag = MAV
};
}
else
{
// unknown type
return new GMarkerGoogle(portlocation, GMarkerGoogleType.green_dot)
{
Tag = MAV
};
}
}
public static Form LoadingBox(string title, string promptText)
{
Form form = new Form();
System.Windows.Forms.Label label = new System.Windows.Forms.Label();
System.ComponentModel.ComponentResourceManager resources =
new System.ComponentModel.ComponentResourceManager(typeof(MainV2));
form.Icon = ((System.Drawing.Icon)(resources.GetObject("$this.Icon")));
form.Text = title;
label.Text = promptText;
label.SetBounds(9, 50, 372, 13);
label.AutoSize = true;
form.ClientSize = new Size(396, 107);
form.Controls.AddRange(new Control[] { label });
form.ClientSize = new Size(Math.Max(300, label.Right + 10), form.ClientSize.Height);
form.FormBorderStyle = FormBorderStyle.FixedDialog;
form.StartPosition = FormStartPosition.CenterScreen;
form.MinimizeBox = false;
form.MaximizeBox = false;
ThemeManager.ApplyThemeTo(form);
form.Show();
form.Refresh();
label.Refresh();
Application.DoEvents();
return form;
}
public static DialogResult MessageShowAgain(string title, string promptText, bool show_cancel = false)
{
Form form = new Form();
System.Windows.Forms.Label label = new System.Windows.Forms.Label();
CheckBox chk = new CheckBox();
Controls.MyButton buttonOk = new Controls.MyButton();
Controls.MyButton buttonCancel = new Controls.MyButton();
System.ComponentModel.ComponentResourceManager resources =
new System.ComponentModel.ComponentResourceManager(typeof(MainV2));
try
{
form.Icon = ((System.Drawing.Icon) (resources.GetObject("$this.Icon")));
} catch {}
string link = "";
string linktext = "";
Regex linkregex = new Regex(@"(\[link;([^\]]+);([^\]]+)\])", RegexOptions.IgnoreCase);
Match match = linkregex.Match(promptText);
if (match.Success)
{
link = match.Groups[2].Value;
linktext = match.Groups[3].Value;
promptText = promptText.Replace(match.Groups[1].Value, "");
}
form.Text = title;
label.Text = promptText;
chk.Tag = ($"SHOWAGAIN_{title.Replace(" ", "_").Replace('+', '_').Replace('-', '_').Replace('.', '_')}");
chk.AutoSize = true;
chk.Text = Strings.ShowMeAgain;
chk.Checked = true;
chk.Location = new Point(9, 80);
if (Settings.Instance.ContainsKey((string)chk.Tag) && Settings.Instance.GetBoolean((string)chk.Tag) == false)
// skip it
{
form.Dispose();
chk.Dispose();
buttonOk.Dispose();
buttonCancel.Dispose();
label.Dispose();
return DialogResult.OK;
}
chk.CheckStateChanged += new EventHandler(chk_CheckStateChanged);
buttonOk.Text = Strings.OK;
buttonOk.DialogResult = DialogResult.OK;
buttonOk.Location = new Point(form.Right - (show_cancel ? 180 : 100), 80);
buttonCancel.Text = Strings.Cancel;
buttonCancel.DialogResult = DialogResult.Cancel;
buttonCancel.Location = new Point(form.Right - 90, 80);
buttonCancel.Visible = show_cancel;
label.SetBounds(9, 9, 372, 13);
label.AutoSize = true;
form.Controls.AddRange(new Control[] { label, chk, buttonOk, buttonCancel });
if (link != "" && linktext != "")
{
Size textSize2 = TextRenderer.MeasureText(linktext, SystemFonts.DefaultFont);
var linklbl = new LinkLabel
{
Left = 9,
Top = label.Bottom,
Width = textSize2.Width,
Height = textSize2.Height,
Text = linktext,
Tag = link,
AutoSize = true
};
linklbl.Click += (sender, args) =>
{
try
{
System.Diagnostics.Process.Start(((LinkLabel)sender).Tag.ToString());
}
catch (Exception)
{
CustomMessageBox.Show($"Failed to open link {((LinkLabel)sender).Tag}");
}
};
form.Controls.Add(linklbl);
form.Width = Math.Max(form.Width, linklbl.Right + 16);
}
form.ClientSize = new Size(396, 107);
form.ClientSize = new Size(Math.Max(300, label.Right + 10), form.ClientSize.Height);
form.FormBorderStyle = FormBorderStyle.FixedDialog;
form.StartPosition = FormStartPosition.CenterScreen;
form.MinimizeBox = false;
form.MaximizeBox = false;
ThemeManager.ApplyThemeTo(form);
DialogResult dialogResult = DialogResult.Cancel;
if (Application.OpenForms.Count > 0)
{
if (Application.OpenForms[0].InvokeRequired)
Application.OpenForms[0].Invoke(new Action(() => { dialogResult = form.ShowDialog(); }));
else
dialogResult = form.ShowDialog();
}
else
{
dialogResult = form.ShowDialog();
}
form.Dispose();
form = null;
return dialogResult;
}
static void chk_CheckStateChanged(object sender, EventArgs e)
{
Settings.Instance[(string)((CheckBox)(sender)).Tag] = ((CheckBox)(sender)).Checked.ToString();
}
/// <summary>
/// https://brockallen.com/2016/09/24/process-start-for-urls-on-net-core/
/// </summary>
/// <param name="url"></param>
public static void OpenUrl(string url)
{
try
{
Process.Start(url);
}
catch
{
// hack because of this: https://github.com/dotnet/corefx/issues/10361
if (RuntimeInformation.IsOSPlatform(OSPlatform.Windows))
{
url = url.Replace("&", "^&");
Process.Start(new ProcessStartInfo(url) { UseShellExecute = true });
}
else if (RuntimeInformation.IsOSPlatform(OSPlatform.Linux))
{
Process.Start("xdg-open", url);
}
else if (RuntimeInformation.IsOSPlatform(OSPlatform.OSX))
{
Process.Start("open", url);
}
else
{
throw;
}
}
}
}
}