private void MenuConnect_Click(object sender, EventArgs e)
{
comPort.giveComport = false;
log.Info("MenuConnect Start");
// sanity check
if (comPort.BaseStream.IsOpen && MainV2.comPort.MAV.cs.groundspeed > 4)
{
if (DialogResult.No == CustomMessageBox.Show(Strings.Stillmoving, Strings.Disconnect, MessageBoxButtons.YesNo))
{
return;
}
}
try
{
log.Info("Cleanup last logfiles");
// cleanup from any previous sessions
if (comPort.logfile != null)
comPort.logfile.Close();
if (comPort.rawlogfile != null)
comPort.rawlogfile.Close();
}
catch (Exception ex)
{
CustomMessageBox.Show(Strings.ErrorClosingLogFile + ex.Message, Strings.ERROR);
}
comPort.logfile = null;
comPort.rawlogfile = null;
// decide if this is a connect or disconnect
if (comPort.BaseStream.IsOpen)
{
//fix for not recognizing when USB is pulled out - D Cironi
if (MenuConnect.Text == "DISCONNECT")
{
comPort.Close();
}
log.Info("We are disconnecting");
try
{
if (speechEngine != null) // cancel all pending speech
speechEngine.SpeakAsyncCancelAll();
comPort.BaseStream.DtrEnable = false;
comPort.Close();
}
catch (Exception ex)
{
log.Error(ex);
}
// now that we have closed the connection, cancel the connection stats
// so that the 'time connected' etc does not grow, but the user can still
// look at the now frozen stats on the still open form
try
{
// if terminal is used, then closed using this button.... exception
if (this.connectionStatsForm != null)
((ConnectionStats)this.connectionStatsForm.Controls[0]).StopUpdates();
}
catch { }
// refresh config window if needed
if (MyView.current != null)
{
if (MyView.current.Name == "HWConfig")
MyView.ShowScreen("HWConfig");
if (MyView.current.Name == "SWConfig")
MyView.ShowScreen("SWConfig");
}
try
{
System.Threading.ThreadPool.QueueUserWorkItem((WaitCallback)delegate
{
try
{
MissionPlanner.Log.LogSort.SortLogs(Directory.GetFiles(MainV2.LogDir, "*.tlog"));
}
catch { }
}
);
}
catch { }
this.MenuConnect.Image = global::MissionPlanner.Properties.Resources.light_connect_icon;
}
else
{
log.Info("We are connecting");
switch (_connectionControl.CMB_serialport.Text)
{
case "TCP":
comPort.BaseStream = new TcpSerial();
break;
case "UDP":
comPort.BaseStream = new UdpSerial();
break;
case "AUTO":
default:
comPort.BaseStream = new SerialPort();
break;
}
// Tell the connection UI that we are now connected.
_connectionControl.IsConnected(true);
// Here we want to reset the connection stats counter etc.
this.ResetConnectionStats();
MainV2.comPort.MAV.cs.ResetInternals();
//cleanup any log being played
comPort.logreadmode = false;
if (comPort.logplaybackfile != null)
comPort.logplaybackfile.Close();
comPort.logplaybackfile = null;
try
{
// do autoscan
if (_connectionControl.CMB_serialport.Text == "AUTO")
{
Comms.CommsSerialScan.Scan(false);
DateTime deadline = DateTime.Now.AddSeconds(50);
while (Comms.CommsSerialScan.foundport == false)
{
System.Threading.Thread.Sleep(100);
if (DateTime.Now > deadline)
{
CustomMessageBox.Show(Strings.Timeout);
_connectionControl.IsConnected(false);
return;
}
}
_connectionControl.CMB_serialport.Text = Comms.CommsSerialScan.portinterface.PortName;
_connectionControl.CMB_baudrate.Text = Comms.CommsSerialScan.portinterface.BaudRate.ToString();
}
log.Info("Set Portname");
// set port, then options
comPort.BaseStream.PortName = _connectionControl.CMB_serialport.Text;
log.Info("Set Baudrate");
try
{
comPort.BaseStream.BaudRate = int.Parse(_connectionControl.CMB_baudrate.Text);
}
catch (Exception exp)
{
log.Error(exp);
}
// prevent serialreader from doing anything
comPort.giveComport = true;
log.Info("About to do dtr if needed");
// reset on connect logic.
if (config["CHK_resetapmonconnect"] == null || bool.Parse(config["CHK_resetapmonconnect"].ToString()) == true)
{
log.Info("set dtr rts to false");
comPort.BaseStream.DtrEnable = false;
comPort.BaseStream.RtsEnable = false;
comPort.BaseStream.toggleDTR();
}
comPort.giveComport = false;
// setup to record new logs
try
{
Directory.CreateDirectory(MainV2.LogDir);
comPort.logfile = new BufferedStream(File.Open(MainV2.LogDir + Path.DirectorySeparatorChar + DateTime.Now.ToString("yyyy-MM-dd HH-mm-ss") + ".tlog", FileMode.CreateNew, FileAccess.ReadWrite, FileShare.None));
comPort.rawlogfile = new BufferedStream(File.Open(MainV2.LogDir + Path.DirectorySeparatorChar + DateTime.Now.ToString("yyyy-MM-dd HH-mm-ss") + ".rlog", FileMode.CreateNew, FileAccess.ReadWrite, FileShare.None));
log.Info("creating logfile " + DateTime.Now.ToString("yyyy-MM-dd HH-mm-ss") + ".tlog");
}
catch (Exception exp2) { log.Error(exp2); CustomMessageBox.Show(Strings.Failclog); } // soft fail
// reset connect time - for timeout functions
connecttime = DateTime.Now;
// do the connect
comPort.Open(false);
if (!comPort.BaseStream.IsOpen)
{
log.Info("comport is closed. existing connect");
try
{
_connectionControl.IsConnected(false);
UpdateConnectIcon();
comPort.Close();
}
catch { }
return;
}
// 3dr radio is hidden as no hb packet is ever emitted
if (comPort.sysidseen.Count > 1)
{
// we have more than one mav
// user selection of sysid
MissionPlanner.Controls.SysidSelector id = new SysidSelector();
id.ShowDialog();
}
comPort.getParamList();
//set hatch servo values based on parameter file -D Cironi 2015-03-02
if (comPort.MAV.cs.connected)
{
FlightData.servoOptions3.TXT_pwm_high.Text = comPort.GetParam("RC7_MAX").ToString();
FlightData.servoOptions3.TXT_pwm_low.Text = comPort.GetParam("RC7_MIN").ToString();
}
float i;
i = comPort.GetParam("SYSID_SW_TYPE");
// detect firmware we are conected to.
if (comPort.GetParam("SYSID_SW_TYPE") == 10)
{
_connectionControl.TOOL_APMFirmware.SelectedIndex = 2;
CurrentUAV = UAVStats.setStats("IRIS+");
}
//!=any of our mavs
else if (comPort.GetParam("SYSID_SW_TYPE") != 10 && comPort.GetParam("SYSID_SW_TYPE") != 2 && comPort.GetParam("SYSID_SW_TYPE") != 1 && comPort.GetParam("SYSID_SW_TYPE") != 0)
{
_connectionControl.TOOL_APMFirmware.SelectedIndex = 4;
CurrentUAV = UAVStats.setStats("E384");
}
else if (comPort.GetParam("SYSID_SW_TYPE") == 0)
{
_connectionControl.TOOL_APMFirmware.SelectedIndex = 0;
CurrentUAV = UAVStats.setStats("E384");
}
else if (comPort.GetParam("SYSID_SW_TYPE") == 1)
{
_connectionControl.TOOL_APMFirmware.SelectedIndex = 1;
CurrentUAV = UAVStats.setStats("E386");
}
else if (comPort.GetParam("SYSID_SW_TYPE") == 2)
{
_connectionControl.TOOL_APMFirmware.SelectedIndex = 3;
CurrentUAV = UAVStats.setStats("Scout");
}
MainV2.config["CMB_Model"] = MainV2._connectionControl.TOOL_APMFirmware.SelectedIndex;
// check for newer firmware -Don't do this in our version -D Cironi 2015-05-13
//var softwares = Firmware.LoadSoftwares();
//if (softwares.Count > 0)
//{
// try
// {
// string[] fields1 = comPort.MAV.VersionString.Split(' ');
// foreach (Firmware.software item in softwares)
// {
// string[] fields2 = item.name.Split(' ');
// // check primare firmware type. ie arudplane, arducopter
// if (fields1[0] == fields2[0])
// {
// Version ver1 = VersionDetection.GetVersion(comPort.MAV.VersionString);
// Version ver2 = VersionDetection.GetVersion(item.name);
// if (ver2 > ver1)
// {
// Common.MessageShowAgain(Strings.NewFirmware, Strings.NewFirmwareA + item.name + Strings.Pleaseup);
// break;
// }
// // check the first hit only
// break;
// }
// }
// }
// catch (Exception ex) { log.Error(ex); }
//}
FlightData.CheckBatteryShow();
MissionPlanner.Utilities.Tracking.AddEvent("Connect", "Connect", comPort.MAV.cs.firmware.ToString(), comPort.MAV.param.Count.ToString());
MissionPlanner.Utilities.Tracking.AddTiming("Connect", "Connect Time", (DateTime.Now - connecttime).TotalMilliseconds, "");
MissionPlanner.Utilities.Tracking.AddEvent("Connect", "Baud", comPort.BaseStream.BaudRate.ToString(), "");
// save the baudrate for this port
config[_connectionControl.CMB_serialport.Text + "_BAUD"] = _connectionControl.CMB_baudrate.Text;
this.Text = titlebar + " " + comPort.MAV.VersionString;
// refresh config window if needed
if (MyView.current != null)
{
if (MyView.current.Name == "HWConfig")
MyView.ShowScreen("HWConfig");
if (MyView.current.Name == "SWConfig")
MyView.ShowScreen("SWConfig");
}
// load wps on connect option.
if (config["loadwpsonconnect"] != null && bool.Parse(config["loadwpsonconnect"].ToString()) == true)
{
// only do it if we are connected.
if (comPort.BaseStream.IsOpen)
{
MenuFlightPlanner_Click(null, null);
FlightPlanner.BUT_read_Click(null, null);
}
}
// set connected icon
this.MenuConnect.Image = displayicons.disconnect;
}
catch (Exception ex)
{
log.Warn(ex);
try
{
_connectionControl.IsConnected(false);
UpdateConnectIcon();
comPort.Close();
}
catch { }
CustomMessageBox.Show("Can not establish a connection\n\n" + ex.Message);
return;
}
}
}
public static UAVStats setStats(string uav)
{
UAVStats stats = new UAVStats();
if (uav == "E384")
{
stats.batteryHigh = 16.8;
stats.batteryLow = 14.2;
stats.flightSpeedM = 13;
stats.flightSpeedF = 42.65;
stats.amphour = 134.4;
stats.landwp = 6;
stats.firmware = "E384";
stats.flighttime = 60;
stats.resumealt = 80;
stats.gpslanding = true;
stats.autoland = false;
stats.resumeMission = false;
stats.runway = true;
MainV2.comPort.MAV.cs.firmware = MainV2.Firmwares.ArduPlane;
}
else if (uav == "IRIS+")
{
stats.batteryHigh = 12.6;
stats.batteryLow = 11.2;
stats.flightSpeedM = 5;
stats.flightSpeedF = 16.4;
stats.landwp = 1;
stats.firmware = "Iris";
stats.flighttime = 15;
stats.resumealt = 60;
stats.gpslanding = true;
stats.autoland = true;
stats.resumeMission = true;
stats.amphour = 5100;
stats.runway = true;
MainV2.comPort.MAV.cs.firmware = MainV2.Firmwares.ArduCopter2;
}
else if (uav == "E386")
{
stats.batteryHigh = 16.8;
stats.batteryLow = 14.2;
stats.flightSpeedM = 13;
stats.flightSpeedF = 42.65;
stats.landwp = 5;
stats.firmware = "E386";
stats.flighttime = 60;
stats.resumealt = 80;
stats.amphour = 134.4;
stats.gpslanding = true;
stats.autoland = true;
stats.resumeMission = true;
stats.runway = true;
MainV2.comPort.MAV.cs.firmware = MainV2.Firmwares.ArduPlane;
}
else if (uav == "Scout")
{
stats.batteryHigh = 12.6;
stats.batteryLow = 11.2;
stats.flightSpeedM = 13;
stats.flightSpeedF = 42.65;
stats.landwp = 5;
stats.firmware = "Scout";
stats.flighttime = 30;
stats.resumealt = 80;
stats.amphour = 56.61;
stats.gpslanding = true;
stats.autoland = true;
stats.resumeMission = true;
stats.runway = true;
MainV2.comPort.MAV.cs.firmware = MainV2.Firmwares.ArduPlane;
}
else if (uav == "Other")
{
stats.batteryHigh = 0;
stats.batteryLow = 0;
stats.flightSpeedM = 0;
stats.flightSpeedF = 0;
stats.resumealt = 0;
stats.firmware = "ArduRover";
stats.flighttime = 0;
stats.amphour = 0;
stats.gpslanding = false;
stats.autoland = false;
stats.resumeMission = false;
stats.runway = false;
}
return(stats);
}
private void TOOL_APMFirmware_SelectedIndexChanged(object sender, EventArgs e)
{
MainV2.CurrentUAV = UAVStats.setStats(_connectionControl.TOOL_APMFirmware.SelectedItem.ToString());
MainV2.config["CMB_Model"] = MainV2._connectionControl.TOOL_APMFirmware.SelectedIndex;
}
public static UAVStats setStats(string uav)
{
UAVStats stats = new UAVStats();
if (uav == "E384")
{
stats.batteryHigh = 16.8;
stats.batteryLow = 14.2;
stats.flightSpeedM = 13;
stats.flightSpeedF = 42.65;
stats.amphour = 134.4;
stats.landwp = 6;
stats.firmware = "E384";
stats.flighttime = 60;
stats.resumealt = 80;
stats.gpslanding = true;
stats.autoland = false;
stats.resumeMission = false;
stats.runway = true;
MainV2.comPort.MAV.cs.firmware = MainV2.Firmwares.ArduPlane;
}
else if (uav == "IRIS+")
{
stats.batteryHigh = 12.6;
stats.batteryLow = 11.2;
stats.flightSpeedM = 5;
stats.flightSpeedF = 16.4;
stats.landwp = 1;
stats.firmware = "Iris";
stats.flighttime = 15;
stats.resumealt = 60;
stats.gpslanding = true;
stats.autoland = true;
stats.resumeMission = true;
stats.amphour = 5100;
stats.runway = true;
MainV2.comPort.MAV.cs.firmware = MainV2.Firmwares.ArduCopter2;
}
else if (uav == "E386")
{
stats.batteryHigh = 16.8;
stats.batteryLow = 14.2;
stats.flightSpeedM = 13;
stats.flightSpeedF = 42.65;
stats.landwp = 5;
stats.firmware = "E386";
stats.flighttime = 60;
stats.resumealt = 80;
stats.amphour = 134.4;
stats.gpslanding = true;
stats.autoland = true;
stats.resumeMission = true;
stats.runway = true;
MainV2.comPort.MAV.cs.firmware = MainV2.Firmwares.ArduPlane;
}
else if (uav == "Scout")
{
stats.batteryHigh = 12.6;
stats.batteryLow = 11.2;
stats.flightSpeedM = 13;
stats.flightSpeedF = 42.65;
stats.landwp = 5;
stats.firmware = "Scout";
stats.flighttime = 30;
stats.resumealt = 80;
stats.amphour = 56.61;
stats.gpslanding = true;
stats.autoland = true;
stats.resumeMission = true;
stats.runway = true;
MainV2.comPort.MAV.cs.firmware = MainV2.Firmwares.ArduPlane;
}
else if (uav == "Other")
{
stats.batteryHigh = 0;
stats.batteryLow = 0;
stats.flightSpeedM = 0;
stats.flightSpeedF = 0;
stats.resumealt = 0;
stats.firmware = "ArduRover";
stats.flighttime = 0;
stats.amphour = 0;
stats.gpslanding = false;
stats.autoland = false;
stats.resumeMission = false;
stats.runway = false;
}
return stats;
}
