public static HierachyItem GetItembyPath(UAVParameter param, string path)
{
string key = path;
string newpath = "";
MonitoredDictionary <string, UAVParameter> .GetKeyPath(ref key, ref newpath);
if (param is UAVStructure)
{
UAVStructure mystructure = ((UAVStructure)param);
foreach (UAVParameter myparams in mystructure.values.Values)
{
if (myparams.Name == key)
{
GetItembyPath(myparams, newpath);
}
}
}
else
if (param is UAVParameter)
{
if (param.Name == key)
{
return(param);
}
// remotedata.Add(newparam);
}
return(null);
}
void uavData_ValueChanged(UAVCommons.UAVParameter param, bool isremote)
{
//if (Lastupdate.AddMilliseconds(-100) < DateTime.Now)
//{
// Lastupdate = DateTime.Now;
// LoadDatafromAHRS();
//}
}
public UAVSingleParameter this[string key]
{
get
{
return(uavData[key]);
}
set
{
lock (SyncObj)
{
try{
if (uavData.ContainsKey(key))
{
if (value is UAVStructure)
{
((UAVStructure)(value)).ValueChanged += new UAVStructure.ValueChangedHandler(MonitoredDictionary_ValueChanged);
}
else
{
value.ValueChanged += new UAVSingleParameter.ValueChangedHandler(Value_ValueChanged);
}
uavData[key] = value;
}
else
{
UAVParameter param = new UAVParameter(key, value);
param.Min = null;
param.Max = null;
uavData.Add(key, value);
}
if (ValueChanged != null)
{
ValueChanged(value, false);
}
}catch (Exception ex)
{
;
throw new Exception("Error on key: " + key, ex);
}
}
}
}
/// <summary>
/// creates a duplicate of the Parameter
/// </summary>
/// <returns></returns>
public virtual object Clone()
{
UAVParameter newParam = null;
if (this.value is double)
{
newParam = new UAVParameter((string)this.name.Clone(),
Convert.ToDouble(value.ToString()));
}
else
{
newParam = new UAVParameter((string)this.name.Clone(),
ObjectCopier.Clone <object> (this.value));
}
newParam.updateRate = this.updateRate;
newParam.Min = this.Min;
newParam.Max = this.Max;
newParam.parent = this.parent;
return(newParam);
}
/// <summary>
/// Calculate Distance to current Waypoint and if overhead call event
/// </summary>
/// <param name="param"></param>
/// <param name="isremote"></param>
void gps_ValueChanged(UAVCommons.UAVParameter param, bool isremote)
{
if (currentWaypoint != null)
{
if (Distance((UAVStructure)this.gps, currentWaypoint) < Convert.ToDouble(performanceData["WayPointThreshold"].Value))
{
if (PassingWayPoint != null)
{
PassingWayPoint(currentWaypoint);
}
}
values["TargetPsi"].Value = this.GetDirection((FlightControlCommons.GPS)gps, currentWaypoint);
values["TargetAltitude"].Value = currentWaypoint.Altitude;
}
else
{
// What todo if there is no current WayPoint Set?
}
}
public UAVSingleParameter SilentUpdate(string key, object value, bool isremote)
{
string newpath = "";
GetKeyPath(ref key, ref newpath);
if (uavData.ContainsKey(key))
{
// Cut away current level
return(uavData[key].SilentUpdate(newpath, value, isremote));
}
else
{
UAVSingleParameter parameter;
if (newpath == key)
{
if (owner is UAVParameter)
{
parameter = new UAVSingleParameter(key, value);
}
else
{
if ((key == "Min") || (key == "Max") || (key == "UpdateRate"))
{
parameter = new UAVSingleParameter(key, value);
}
else
{
if (owner.Name != key)
{
parameter = new UAVParameter(key, value);
}
else
{
return((UAVSingleParameter)owner);
}
}
}
}
else
{
parameter = new UAVStructure(key, "");
parameter.Parent = owner;
parameter.ValueChanged += new UAVSingleParameter.ValueChangedHandler(parameter_ValueChanged);
uavData.Add(key, parameter);
UAVSingleParameter child = parameter.SilentUpdate(newpath, value, isremote);
child.Parent = parameter;
child.ValueChanged += new UAVSingleParameter.ValueChangedHandler(parameter_ValueChanged);
return(child);
}
parameter.ValueChanged += new UAVSingleParameter.ValueChangedHandler(parameter_ValueChanged);
parameter.Parent = owner;
uavData.Add(key, parameter);
if (NewValue != null)
{
NewValue(parameter, isremote);
}
return(parameter);
}
}
/// <summary>
/// To be Implemented
/// Schlussrechnung
/// </summary>
/// <param name="oldValueandRange"></param>
/// <param name="newValueandRange"></param>
/// <returns></returns>
public static Double TransformToRange(UAVParameter oldValueandRange, UAVParameter newValueandRange)
{
return(0);
}
public virtual void ahrs_ValueChanged(UAVCommons.UAVParameter param, bool isremote)
{
//lastphi = Convert.ToDouble(ahrs.values["phi"]);
//lastpsi = Convert.ToDouble(ahrs.values["psi"]);
//lasttheta = Convert.ToDouble(ahrs.values["theta"]);
}
void currentUAV_DataArrived(UAVCommons.CommunicationEndpoint source, UAVCommons.UAVParameter arg)
{
LoadDatafromAHRS();
}
