public static void Start(string[] args)
{
Program.args = args;
Console.WriteLine(
"If your error is about Microsoft.DirectX.DirectInput, please install the latest directx redist from here http://www.microsoft.com/en-us/download/details.aspx?id=35 \n\n");
Console.WriteLine("Debug under mono MONO_LOG_LEVEL=debug mono MissionPlanner.exe");
Console.WriteLine("To fix any filename case issues under mono use export MONO_IOMAP=drive:case");
Console.WriteLine("Data Dir " + Settings.GetDataDirectory());
Console.WriteLine("Log Dir " + Settings.GetDefaultLogDir());
Console.WriteLine("Running Dir " + Settings.GetRunningDirectory());
Console.WriteLine("User Data Dir " + Settings.GetUserDataDirectory());
var t = Type.GetType("Mono.Runtime");
MONO = (t != null);
Thread = Thread.CurrentThread;
System.Windows.Forms.Application.EnableVisualStyles();
XmlConfigurator.Configure();
log.Info("******************* Logging Configured *******************");
ServicePointManager.DefaultConnectionLimit = 10;
System.Windows.Forms.Application.ThreadException += Application_ThreadException;
// fix ssl on mono
ServicePointManager.ServerCertificateValidationCallback =
new System.Net.Security.RemoteCertificateValidationCallback(
(sender, certificate, chain, policyErrors) => { return(true); });
if (args.Length > 0 && args[0] == "/update")
{
Utilities.Update.DoUpdate();
return;
}
name = "Mission Planner";
try
{
if (File.Exists(Settings.GetRunningDirectory() + "logo.txt"))
{
name = File.ReadAllLines(Settings.GetRunningDirectory() + "logo.txt",
Encoding.UTF8)[0];
}
}
catch
{
}
if (File.Exists(Settings.GetRunningDirectory() + "logo.png"))
{
Logo = new Bitmap(Settings.GetRunningDirectory() + "logo.png");
}
if (File.Exists(Settings.GetRunningDirectory() + "logo2.png"))
{
Logo2 = new Bitmap(Settings.GetRunningDirectory() + "logo2.png");
}
if (File.Exists(Settings.GetRunningDirectory() + "icon.png"))
{
// 128*128
IconFile = new Bitmap(Settings.GetRunningDirectory() + "icon.png");
}
else
{
IconFile = MissionPlanner.Properties.Resources.mpdesktop.ToBitmap();
}
if (File.Exists(Settings.GetRunningDirectory() + "splashbg.png")) // 600*375
{
SplashBG = new Bitmap(Settings.GetRunningDirectory() + "splashbg.png");
}
try
{
var file = NativeLibrary.GetLibraryPathname("libSkiaSharp");
var ptr = NativeLibrary.LoadLibrary(file);
if (ptr != IntPtr.Zero)
{
log.Info("SkiaLoaded");
}
}
catch (Exception ex)
{
log.Error(ex);
}
Splash = new MissionPlanner.Splash();
if (SplashBG != null)
{
Splash.BackgroundImage = SplashBG;
Splash.pictureBox1.Visible = false;
}
if (IconFile != null)
{
Splash.Icon = Icon.FromHandle(((Bitmap)IconFile).GetHicon());
}
string strVersion = File.Exists("version.txt")
? File.ReadAllText("version.txt")
: System.Reflection.Assembly.GetExecutingAssembly().GetName().Version.ToString();
Splash.Text = name + " " + Application.ProductVersion + " build " + strVersion;
Splash.Show();
if (Debugger.IsAttached)
{
Splash.TopMost = false;
}
Application.DoEvents();
Application.DoEvents();
CustomMessageBox.ShowEvent += (text, caption, buttons, icon, yestext, notext) =>
{
return((CustomMessageBox.DialogResult)(int) MsgBox.CustomMessageBox.Show(text, caption,
(MessageBoxButtons)(int)buttons, (MessageBoxIcon)(int)icon, yestext, notext));
};
// setup theme provider
MsgBox.CustomMessageBox.ApplyTheme += MissionPlanner.Utilities.ThemeManager.ApplyThemeTo;
Controls.MainSwitcher.ApplyTheme += MissionPlanner.Utilities.ThemeManager.ApplyThemeTo;
MissionPlanner.Controls.InputBox.ApplyTheme += MissionPlanner.Utilities.ThemeManager.ApplyThemeTo;
Controls.BackstageView.BackstageViewPage.ApplyTheme += MissionPlanner.Utilities.ThemeManager.ApplyThemeTo;
Controls.MainSwitcher.Tracking += MissionPlanner.Utilities.Tracking.AddPage;
Controls.BackstageView.BackstageView.Tracking += MissionPlanner.Utilities.Tracking.AddPage;
// setup settings provider
MissionPlanner.Comms.CommsBase.Settings += CommsBase_Settings;
MissionPlanner.Comms.CommsBase.InputBoxShow += CommsBaseOnInputBoxShow;
MissionPlanner.Comms.CommsBase.ApplyTheme += MissionPlanner.Utilities.ThemeManager.ApplyThemeTo;
MissionPlanner.Comms.SerialPort.GetDeviceName += SerialPort_GetDeviceName;
// set the cache provider to my custom version
GMap.NET.GMaps.Instance.PrimaryCache = new Maps.MyImageCache();
// add my custom map providers
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.WMSProvider.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Custom.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Earthbuilder.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Statkart_Topo2.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Eniro_Topo.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.MapBox.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.MapboxNoFly.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Japan.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Japan_Lake.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Japan_1974.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Japan_1979.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Japan_1984.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Japan_1988.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Japan_Relief.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Japan_Slopezone.Instance);
GMap.NET.MapProviders.GMapProviders.List.Add(Maps.Japan_Sea.Instance);
GoogleMapProvider.APIKey = "AIzaSyA5nFp39fEHruCezXnG3r8rGyZtuAkmCug";
srtm.UserAgent = Application.ProductName + " " + Application.ProductVersion + " (" + Environment.OSVersion.VersionString + ")";
// optionally add gdal support
if (Directory.Exists(Application.StartupPath + Path.DirectorySeparatorChar + "gdal"))
{
GMap.NET.MapProviders.GMapProviders.List.Add(GDAL.GDALProvider.Instance);
}
// add proxy settings
GMap.NET.MapProviders.GMapProvider.WebProxy = WebRequest.GetSystemWebProxy();
GMap.NET.MapProviders.GMapProvider.WebProxy.Credentials = CredentialCache.DefaultCredentials;
// generic status report screen
MAVLinkInterface.CreateIProgressReporterDialogue += title =>
new ProgressReporterDialogue()
{
StartPosition = FormStartPosition.CenterScreen, Text = title
};
WebRequest.DefaultWebProxy = WebRequest.GetSystemWebProxy();
WebRequest.DefaultWebProxy.Credentials = CredentialCache.DefaultNetworkCredentials;
if (name == "VVVVZ")
{
// set pw
Settings.Instance["password"] = "******";
Settings.Instance["password_protect"] = "True";
// prevent wizard
Settings.Instance["newuser"] = "******";
// invalidate update url
System.Configuration.ConfigurationManager.AppSettings["UpdateLocationVersion"] = "";
}
CleanupFiles();
//LoadDlls();
log.InfoFormat("64bit os {0}, 64bit process {1}", System.Environment.Is64BitOperatingSystem,
System.Environment.Is64BitProcess);
Device.DeviceStructure test1 = new Device.DeviceStructure(73225);
Device.DeviceStructure test2 = new Device.DeviceStructure(262434);
Device.DeviceStructure test3 = new Device.DeviceStructure(131874);
//ph2 - cube with here
Device.DeviceStructure test5 = new Device.DeviceStructure(466441);
Device.DeviceStructure test6 = new Device.DeviceStructure(131874);
Device.DeviceStructure test7 = new Device.DeviceStructure(263178);
//
Device.DeviceStructure test8 = new Device.DeviceStructure(1442082);
Device.DeviceStructure test9 = new Device.DeviceStructure(1114914);
Device.DeviceStructure test10 = new Device.DeviceStructure(1442826);
//
Device.DeviceStructure test11 = new Device.DeviceStructure(2359586);
Device.DeviceStructure test12 = new Device.DeviceStructure(2229282);
Device.DeviceStructure test13 = new Device.DeviceStructure(2360330);
Device.DeviceStructure test21 = new Device.DeviceStructure(592905);
Device.DeviceStructure test22 = new Device.DeviceStructure(131874);
Device.DeviceStructure test23 = new Device.DeviceStructure(263178);
MAVLink.MavlinkParse tmp = new MAVLink.MavlinkParse();
MAVLink.mavlink_heartbeat_t hb = new MAVLink.mavlink_heartbeat_t()
{
autopilot = 1,
base_mode = 2,
custom_mode = 3,
mavlink_version = 2,
system_status = 6,
type = 7
};
var t1 = tmp.GenerateMAVLinkPacket10(MAVLink.MAVLINK_MSG_ID.HEARTBEAT, hb);
var t2 = tmp.GenerateMAVLinkPacket20(MAVLink.MAVLINK_MSG_ID.HEARTBEAT, hb);
tmp.GenerateMAVLinkPacket10(MAVLink.MAVLINK_MSG_ID.HEARTBEAT, hb);
tmp.GenerateMAVLinkPacket20(MAVLink.MAVLINK_MSG_ID.HEARTBEAT, hb);
tmp.GenerateMAVLinkPacket20(MAVLink.MAVLINK_MSG_ID.HEARTBEAT, hb, true);
tmp.GenerateMAVLinkPacket20(MAVLink.MAVLINK_MSG_ID.HEARTBEAT, hb, true);
var msg = new MAVLink.MAVLinkMessage(t2);
try
{
//System.Diagnostics.Process.GetCurrentProcess().PriorityClass = System.Diagnostics.ProcessPriorityClass.RealTime;
Thread.CurrentThread.Name = "Base Thread";
Application.Run(new MainV2());
}
catch (Exception ex)
{
log.Fatal("Fatal app exception", ex);
Console.WriteLine(ex.ToString());
Console.WriteLine("\nPress any key to exit!");
Console.ReadLine();
}
try
{
// kill sim background process if its still running
if (GCSViews.SITL.simulator != null)
{
GCSViews.SITL.simulator.Kill();
}
}
catch
{
}
}
static void CleanupFiles()
{
try
{
//cleanup bad file
string file = Settings.GetRunningDirectory() +
@"LogAnalyzer\tests\TestUnderpowered.py";
if (File.Exists(file))
{
File.Delete(file);
}
}
catch { }
try
{
var file = "NumpyDotNet.dll";
if (File.Exists(file))
{
File.Delete(file);
}
}
catch
{
}
try
{
var file = "px4uploader.exe";
var file1 = "px4uploader.dll";
if (File.Exists(file1) && File.Exists(file))
{
File.Delete(file);
}
}
catch
{
}
try
{
foreach (string newupdater in Directory.GetFiles(Settings.GetRunningDirectory(), "Updater.exe*.new"))
{
File.Copy(newupdater, newupdater.Remove(newupdater.Length - 4), true);
File.Delete(newupdater);
}
}
catch (Exception ex)
{
log.Error("Exception during update", ex);
}
try
{
foreach (string newupdater in Directory.GetFiles(Settings.GetRunningDirectory(), "tlogThumbnailHandler.dll.new"))
{
File.Copy(newupdater, newupdater.Remove(newupdater.Length - 4), true);
File.Delete(newupdater);
}
}
catch (Exception ex)
{
log.Error("Exception during update", ex);
}
}
