static void TimerTask(Object obj)
{
AntTracker ant = (AntTracker)obj;
if (ant.flag == 0)
{
ant.flag = 1;
ant.tarea(ant);
if (ant.terminate)
{
ant.timer.Dispose();
ant.antenaTracker.Close();
}
ant.flag = 0;
}
}
void tarea(AntTracker obj)
{
if (antenaTracker.IsOpen())
{
if (singleton.telemetria == Singleton.Telemetria.AntTracker)
{
obj.packet = antenaTracker.ReadModem();
}
else if (obj.planeStateUpdated == true && CheckPlaneState(obj.planeState))
{
datosAvion.lon = obj.planeState.Lon;
datosAvion.lat = obj.planeState.Lat;
datosAvion.alt = (short)obj.planeState.Alt;
datosAvion.home_lon = (float)obj.home.Longitude;
datosAvion.home_lat = (float)obj.home.Latitude;
datosAvion.home_alt = (short)obj.home.Altitude;
if (antenaTracker.WriteDatosAvion(datosAvion) != USBXpress.USBXpress.ReturnCodes.SI_SUCCESS)
{
antenaTracker.Close();
}
else
{
datosAntena = antenaTracker.ReadDatosAntena();
}
}
if (debugUpdated)
{
antenaTracker.WriteDebugInfo(debug);
debugUpdated = false;
}
}
else
{
antenaTracker = new AntenaTracker();
}
}
public FormIkarusMain()
{
InitializeComponent();
if (me.SistemaMetrico == (int)Singleton.SistemasMetricos.Metrico)
instrumento_Altimeter1.Calibration = me.HomeAlt;
else
instrumento_Altimeter1.Calibration = me.HomeAlt * 3.28f;
this.SetStyle(ControlStyles.AllPaintingInWmPaint | ControlStyles.UserPaint | ControlStyles.DoubleBuffer, true);
debug_values = new float[5, 5]{{me.uplink_pid_ele_P, me.uplink_pid_ele_I, me.uplink_pid_ele_D, me.uplink_pid_ele_IL, me.uplink_pid_ele_DL},
{me.uplink_pid_ail_P , me.uplink_pid_ail_I, me.uplink_pid_ail_D, me.uplink_pid_ail_IL, me.uplink_pid_ail_DL},
{me.uplink_pid_tail_P, me.uplink_pid_tail_I, me.uplink_pid_tail_D, me.uplink_pid_tail_IL, me.uplink_pid_tail_DL},
{me.uplink_pid_thr_P, me.uplink_pid_thr_I, me.uplink_pid_thr_D, me.uplink_pid_thr_IL, me.uplink_pid_thr_DL },
{me.uplink_IR_offX, me.uplink_IR_offY, me.uplink_IR_gain, me.uplink_rumbo_ail, me.uplink_altura_ele}};
comboBox3.SelectedIndex = 0;
comboBox2.SelectedIndex = 0;
comboBox1.SelectedIndex = 0;
this.planeWpt = new WayPoint("Avion", me.HomeLon, me.HomeLat, global::UAVConsole.Properties.Resources.plane3);
this.planeWpt.icon.MakeTransparent(Color.White);
this.planeWpt.heading = 0;
this.targetWpt = new WayPoint("Avion", me.HomeLon, me.HomeLat);
this.homeWpt = new WayPoint("Home", me.HomeLon, me.HomeLat);
mapControl1.plane = this.planeWpt;
mapControl1.target = this.targetWpt;
mapControl1.ruta = me.Ruta;
medidorBaterias1.num_cells = me.cells1;
medidorBaterias2.num_cells = me.cells2;
try
{
filters = new Filters();
}
catch (Exception)
{
}
if (filters != null && filters.VideoInputDevices.Count > 0)
{
foreach (Filter f in filters.VideoInputDevices)
{
if (f.Name.Equals(me.videoCaptureStr))
{
capture = new Capture(f, null, false);
break;
}
}
if (capture != null)
{
foreach (Source vs in capture.VideoSources)
{
if (vs.ToString().Contains("omposi")) // Video Composite
{
capture.VideoSource = vs;
break;
}
}
if (me.videosystem == Singleton.VideoSystem.PAL)
{
capture.dxUtils.VideoStandard = DShowNET.AnalogVideoStandard.PAL_B;
try
{
capture.FrameRate = 25;
capture.FrameSize = new Size(720, 576);
capture.PreviewFrameSize = new Size(720, 576);
}
catch (Exception) { }
}
else
{
capture.dxUtils.VideoStandard = DShowNET.AnalogVideoStandard.NTSC_M;
try
{
capture.FrameRate = 30;
capture.FrameSize = new Size(720, 480);
}
catch (Exception) { }
}
capture.AllowSampleGrabber = true;
capture.PreviewWindow = panel1;
capture.FrameEvent2 += new Capture.HeFrame(CaptureDone);
capture.GrapImg();
//capture.ShowPropertyPage(1, this);
}
}
if (me.enableAntTrack)
{
antTracker = new AntTracker();
medidorBaterias3.Enabled = true;
medidorBaterias3.AutoCalculate = false;
label6.Enabled = true;
knob_anttracker.Visible = true;
knob_anttracker.Manual = false;
medidorRSSI.Height = 97;
}
else
{
knob_anttracker.Visible = false;
medidorRSSI.Height = 137;
}
if (me.telemetria == Singleton.Telemetria.Video)
{
modem = new ModemVideo();
}
else if (me.telemetria == Singleton.Telemetria.XBEE)
modem = new ModemXbee(me.commPort, me.commBps);
else if (me.telemetria == Singleton.Telemetria.AntTracker)
modem = new ModemAntTracker(antTracker);
if (me.telemetria != Singleton.Telemetria.None)
modem.listeners += RefreshInstruments;
if (me.moduloTX == Singleton.ModuloControl.Uplink)
{
if (jthread == null)
jthread = new JoystickThread(this);
decimal altura = (decimal)(me.HomeAlt + 100);
if (altura < numericUpDown1.Minimum)
altura = numericUpDown1.Minimum;
else if (altura > numericUpDown1.Maximum)
altura = numericUpDown1.Maximum;
numericUpDown1.Value = altura;
label7.Enabled = true;
medidorBaterias4.Enabled = true;
medidorBaterias4.volts_max = me.uplinkVmax;
medidorBaterias4.volts_min = me.uplinkVmin;
}
else
{
splitContainer1.SplitterDistance+=panel4.Height;
panel5.Location = panel4.Location;
panel6.Location = new Point(panel6.Location.X, panel5.Location.Y);
panel4.Visible = false;
}
if (me.enableUDPinout)
{
if (this.sender == null)
this.sender = new SenderUDP(me.portUDPinout);
this.sender.listeners += TeamRefresh;
}
else
{
comboBoxTeam.Visible = false;
button6.Visible = false;
button7.Visible = false;
//panel8.Width -= 56;
}
if (me.enableWebServer)
{
this.KmlWebServer = new MyWebServer(me.portWebServer);
}
timer1.Enabled = true;
}
public FormIkarusMain()
{
InitializeComponent();
if (me.SistemaMetrico == (int)Singleton.SistemasMetricos.Metrico)
{
instrumento_Altimeter1.Calibration = me.HomeAlt;
}
else
{
instrumento_Altimeter1.Calibration = me.HomeAlt * 3.28f;
}
this.SetStyle(ControlStyles.AllPaintingInWmPaint | ControlStyles.UserPaint | ControlStyles.DoubleBuffer, true);
debug_values = new float[5, 5] {
{ me.uplink_pid_ele_P, me.uplink_pid_ele_I, me.uplink_pid_ele_D, me.uplink_pid_ele_IL, me.uplink_pid_ele_DL },
{ me.uplink_pid_ail_P, me.uplink_pid_ail_I, me.uplink_pid_ail_D, me.uplink_pid_ail_IL, me.uplink_pid_ail_DL },
{ me.uplink_pid_tail_P, me.uplink_pid_tail_I, me.uplink_pid_tail_D, me.uplink_pid_tail_IL, me.uplink_pid_tail_DL },
{ me.uplink_pid_thr_P, me.uplink_pid_thr_I, me.uplink_pid_thr_D, me.uplink_pid_thr_IL, me.uplink_pid_thr_DL },
{ me.uplink_IR_offX, me.uplink_IR_offY, me.uplink_IR_gain, me.uplink_rumbo_ail, me.uplink_altura_ele }
};
comboBox3.SelectedIndex = 0;
comboBox2.SelectedIndex = 0;
comboBox1.SelectedIndex = 0;
this.planeWpt = new WayPoint("Avion", me.HomeLon, me.HomeLat, global::UAVConsole.Properties.Resources.plane3);
this.planeWpt.icon.MakeTransparent(Color.White);
this.planeWpt.heading = 0;
this.targetWpt = new WayPoint("Avion", me.HomeLon, me.HomeLat);
this.homeWpt = new WayPoint("Home", me.HomeLon, me.HomeLat);
mapControl1.plane = this.planeWpt;
mapControl1.target = this.targetWpt;
mapControl1.ruta = me.Ruta;
medidorBaterias1.num_cells = me.cells1;
medidorBaterias2.num_cells = me.cells2;
try
{
filters = new Filters();
}
catch (Exception)
{
}
if (filters != null && filters.VideoInputDevices.Count > 0)
{
foreach (Filter f in filters.VideoInputDevices)
{
if (f.Name.Equals(me.videoCaptureStr))
{
capture = new Capture(f, null, false);
break;
}
}
if (capture != null)
{
foreach (Source vs in capture.VideoSources)
{
if (vs.ToString().Contains("omposi")) // Video Composite
{
capture.VideoSource = vs;
break;
}
}
if (me.videosystem == Singleton.VideoSystem.PAL)
{
capture.dxUtils.VideoStandard = DShowNET.AnalogVideoStandard.PAL_B;
try
{
capture.FrameRate = 25;
capture.FrameSize = new Size(720, 576);
capture.PreviewFrameSize = new Size(720, 576);
}
catch (Exception) { }
}
else
{
capture.dxUtils.VideoStandard = DShowNET.AnalogVideoStandard.NTSC_M;
try
{
capture.FrameRate = 30;
capture.FrameSize = new Size(720, 480);
}
catch (Exception) { }
}
capture.AllowSampleGrabber = true;
capture.PreviewWindow = panel1;
capture.FrameEvent2 += new Capture.HeFrame(CaptureDone);
capture.GrapImg();
//capture.ShowPropertyPage(1, this);
}
}
if (me.enableAntTrack)
{
antTracker = new AntTracker();
medidorBaterias3.Enabled = true;
medidorBaterias3.AutoCalculate = false;
label6.Enabled = true;
knob_anttracker.Visible = true;
knob_anttracker.Manual = false;
medidorRSSI.Height = 97;
}
else
{
knob_anttracker.Visible = false;
medidorRSSI.Height = 137;
}
if (me.telemetria == Singleton.Telemetria.Video)
{
modem = new ModemVideo();
}
else if (me.telemetria == Singleton.Telemetria.XBEE)
{
modem = new ModemXbee(me.commPort, me.commBps);
}
else if (me.telemetria == Singleton.Telemetria.AntTracker)
{
modem = new ModemAntTracker(antTracker);
}
if (me.telemetria != Singleton.Telemetria.None)
{
modem.listeners += RefreshInstruments;
}
if (me.moduloTX == Singleton.ModuloControl.Uplink)
{
if (jthread == null)
{
jthread = new JoystickThread(this);
}
decimal altura = (decimal)(me.HomeAlt + 100);
if (altura < numericUpDown1.Minimum)
{
altura = numericUpDown1.Minimum;
}
else if (altura > numericUpDown1.Maximum)
{
altura = numericUpDown1.Maximum;
}
numericUpDown1.Value = altura;
label7.Enabled = true;
medidorBaterias4.Enabled = true;
medidorBaterias4.volts_max = me.uplinkVmax;
medidorBaterias4.volts_min = me.uplinkVmin;
}
else
{
splitContainer1.SplitterDistance += panel4.Height;
panel5.Location = panel4.Location;
panel6.Location = new Point(panel6.Location.X, panel5.Location.Y);
panel4.Visible = false;
}
if (me.enableUDPinout)
{
if (this.sender == null)
{
this.sender = new SenderUDP(me.portUDPinout);
}
this.sender.listeners += TeamRefresh;
}
else
{
comboBoxTeam.Visible = false;
button6.Visible = false;
button7.Visible = false;
//panel8.Width -= 56;
}
if (me.enableWebServer)
{
this.KmlWebServer = new MyWebServer(me.portWebServer);
}
timer1.Enabled = true;
}
void tarea(AntTracker obj)
{
if (antenaTracker.IsOpen())
{
if (singleton.telemetria == Singleton.Telemetria.AntTracker)
{
obj.packet = antenaTracker.ReadModem();
}
else if (obj.planeStateUpdated == true && CheckPlaneState(obj.planeState))
{
datosAvion.lon = obj.planeState.Lon;
datosAvion.lat = obj.planeState.Lat;
datosAvion.alt = (short)obj.planeState.Alt;
datosAvion.home_lon = (float)obj.home.Longitude;
datosAvion.home_lat = (float)obj.home.Latitude;
datosAvion.home_alt = (short)obj.home.Altitude;
if (antenaTracker.WriteDatosAvion(datosAvion) != USBXpress.USBXpress.ReturnCodes.SI_SUCCESS)
{
antenaTracker.Close();
}
else
datosAntena = antenaTracker.ReadDatosAntena();
}
if (debugUpdated)
{
antenaTracker.WriteDebugInfo(debug);
debugUpdated = false;
}
}
else
{
antenaTracker = new AntenaTracker();
}
}