/// <summary>
/// used to add a marker to the map display
/// </summary>
/// <param name="tag"></param>
/// <param name="lng"></param>
/// <param name="lat"></param>
/// <param name="alt"></param>
private void addpolygonmarker(string tag, double lng, double lat, int alt, Color? color)
{
try
{
PointLatLng point = new PointLatLng(lat, lng);
GMapMarkerWP m = new GMapMarkerWP(point, tag);
m.ToolTipMode = MarkerTooltipMode.OnMouseOver;
m.ToolTipText = "高度: " + alt.ToString("0");
m.Tag = tag;
try
{
// preselect groupmarker
if (groupmarkers.Count > 0)
if (groupmarkers.Contains(int.Parse(tag)))
m.selected = true;
}
catch { }
//MissionPlanner.GMapMarkerRectWPRad mBorders = new MissionPlanner.GMapMarkerRectWPRad(point, (int)float.Parse(TXT_WPRad.Text), MainMap);
GMapMarkerRect mBorders = new GMapMarkerRect(point);
{
mBorders.InnerMarker = m;
mBorders.Tag = tag;
//隐藏到达航点半径
//mBorders.wprad = (int)(float.Parse(TXT_WPRad.Text) / CurrentState.multiplierdist);
if (color.HasValue)
{
mBorders.Color = color.Value;
}
}
objectsoverlay.Markers.Add(m);
objectsoverlay.Markers.Add(mBorders);
}
catch (Exception) { }
}
// 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();
}
CurrentState c = new MissionPlanner.CurrentState(); //reference or instance so that HomeBase is actually home now, not a WP
// Do Work
private void domainUpDown1_ValueChanged(object sender, EventArgs e)
{
myGrid.Clear(); //reset the elements in myGrid because it'll be a new version since this function was called again
if (CHK_usespeed.Checked) //if the use speed box is checked
{ //if user unchecks the box, the same speed that was previously there will be used, not the default 5 m/s
speed = (double)NUM_UpDownFlySpeed.Value;
maxFlightDist = ((double)maxFlight.Value * 60) * (speed / 1000);
}
if (CMB_camera.Text != "")
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>(); //not really sure what this number is because
//doesn't seem like the numberflight path points
grid.ForEach(x => { list2.Add(x); }); //adds the number of WPs to list two
map.HoldInvalidation = true;
//below is clearing everything on the map I think
routesOverlay.Routes.Clear();
routesOverlay.Polygons.Clear();
routesOverlay.Markers.Clear();
if (grid.Count == 0) //if there is nothing to plot on the map
{
return;
}
if (CHK_boundary.Checked)
AddDrawPolygon();
int strips = 0;
int images = 0;
int a = 1;
PointLatLngAlt prevpoint = grid[0];
float routetotal = 0;
float renewedRouteTotal = 0; //I added this temp variable
List<PointLatLng> segment = new List<PointLatLng>(); //list of the WPs to add to the map
List<PointLatLng> segmentHome = new List<PointLatLng>(); //list of the WP from end of segment back to home
List<PointLatLng> segmentNext = new List<PointLatLng>(); //list of the WP for the next segment
GMapRoute seg; //I added this
GMapRoute segHome; //I added this too as a test variable to get dist from current point to home
GMapRoute segNext; //I added this too as a test variable to get dist for the next segment
PointLatLngAlt homeBaseBegin = c.HomeLocation; // grid[0]; //stores the very first point && I added this
c.HomeLocation.Tag = "Home"; //creating the home tag
int backHomeLines = 0; //going to be used for debugging
double distance1 = 0;
//I added so that I could see the home base in the beginning
var marker = new GMapMarkerWP(homeBaseBegin, "H") { ToolTipText = a.ToString(), ToolTipMode = MarkerTooltipMode.OnMouseOver };
routesOverlay.Markers.Add(marker); //adds a H marker for home
for (int i = 0; i < grid.Count; i++)
{
if (grid[i].Tag == "M") //I think that this if statement just places down all of the markers we use for the segments
{
images++;
if (CHK_internals.Checked)
{
routesOverlay.Markers.Add(new GMarkerGoogle(grid[i], GMarkerGoogleType.green) { ToolTipText = a.ToString(), ToolTipMode = MarkerTooltipMode.OnMouseOver });
a++;
segment.Add(prevpoint);
segment.Add(grid[i]);
prevpoint = grid[i];
}
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(grid[i].newpos(bearing + angle1, dist1));
footprint.Add(grid[i].newpos(bearing + 180 - angle1, dist1));
footprint.Add(grid[i].newpos(bearing + 180 + angle1, dist1));
footprint.Add(grid[i].newpos(bearing - angle1, dist1));
GMapPolygon poly = new GMapPolygon(footprint, i.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++; //number of line strips to connect the WPs
if (CHK_markers.Checked)
{
marker = new GMapMarkerWP(grid[i], a.ToString()) { ToolTipText = a.ToString(), ToolTipMode = MarkerTooltipMode.OnMouseOver };
routesOverlay.Markers.Add(marker); //adding new WPs to the map to fill the Polygon Points in
}
//below is only run when the drone needs to go back home
if (distance1 >= maxFlightDist) //should be updated when the Max Flight Dist NumUpDown is changed
{ //need to check if the drone can make it to both the next WP and back home before the routetotal is 10 hectares
createMyGridList(i); //creates a new list for me to manipulate only when need to return home for recharge
backHomeLines++; //increment every time drone goes back home
segment.Add(prevpoint); //whatever beginning point the drone was at previously
segment.Add(homeBaseBegin); //telling the drone to go back to home
renewedRouteTotal = 0; //reset this variable
//making the segment for this point to home segment
seg = new GMapRoute(segment, "segment" + a.ToString()); //I modified this from the above line && commented out
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; //routetotal is the summation of the total flight distance
segment.Clear();
//point going from home back to the point we left off
segment.Add(homeBaseBegin);
segment.Add(prevpoint); //grid[i] should be at the same WP point right now
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;
renewedRouteTotal = renewedRouteTotal + (float)seg.Distance; //stores the distance from home to point
segment.Clear();
}
segment.Add(prevpoint); //adding the beginning points of the line segment to output onto the map
segment.Add(grid[i]); //ending point of line segment
prevpoint = grid[i]; //new beginning point for next time around the loop moved below at the end
a++;
}
seg = new GMapRoute(segment, "segment" + a.ToString()); //I modified this from the above line && commented out
seg.Stroke = new Pen(Color.Navy, 4); //changed base segment color
seg.Stroke.DashStyle = System.Drawing.Drawing2D.DashStyle.Custom;
seg.IsHitTestVisible = true;
if (CHK_grid.Checked)
routesOverlay.Routes.Add(seg);
routetotal = routetotal + (float)seg.Distance; //routetotal is the summation of the total flight distance
renewedRouteTotal = renewedRouteTotal + (float)seg.Distance; //temporary routetotal to clear upon landing
segment.Clear();
if (i + 1 < grid.Count)
{
segmentHome.Add(grid[i + 1]); //this should be the new segment from the next point to home
}
if (i + 1 > grid.Count)
{
segmentHome.Add(grid[grid.Count - 2]); //last point in the grid
}
if (i + 1 == grid.Count)
{
segmentHome.Add(grid[grid.Count - 1]); //last point in the grid
}
segmentHome.Add(homeBaseBegin); //used to calculate the distance from point to home below
segHome = new GMapRoute(segmentHome, "segment home" + a.ToString());
if (i + 1 < grid.Count)
{
segmentNext.Add(prevpoint); //used to calculate the distance from point to home below
segmentNext.Add(grid[i + 1]); //this should be the new segment from point to home
}
else
{
segmentNext.Add(prevpoint); //two of the same points should give
segmentNext.Add(prevpoint); //a distance of 0 since there is no next point left
}
segNext = new GMapRoute(segmentNext, "segment next" + a.ToString());
distance1 = renewedRouteTotal + segNext.Distance + segHome.Distance; //need to get seg.Distance of next segment
segmentHome.Clear();
segmentNext.Clear();
}
double numShouldReturnHome = routetotal / maxFlightDist;
/* 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";
lbl_recharge.Text = backHomeLines.ToString();
lbl_shouldrecharge.Text = numShouldReturnHome.ToString();
if ((int)numShouldReturnHome > backHomeLines)
{
CustomMessageBox.Show("Error! Bad grid! Need more flights back home. Drone will not complete mission. Move home base closer to survey area.");
}
}
double flyspeedms = CurrentState.fromSpeedDisplayUnit(speed);
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();
completeMyGridList(); //copies the remaining WPs over
}