Пример #1
0
        public static List<KeyValuePair<int, string>> getModesList(CurrentState cs)
        {
            log.Info("getModesList Called");

            // ensure we get the correct list
            MainV2.comPort.MAV.cs.firmware = cs.firmware;

            Utilities.ParameterMetaDataRepository parm = new ParameterMetaDataRepository();

            if (cs.firmware == MainV2.Firmwares.ArduPlane)
            {
                var flightModes = parm.GetParameterOptionsInt("FLTMODE1");
                flightModes.Add(new KeyValuePair<int,string>(16,"INITIALISING"));
                return flightModes;
            }
            else if (cs.firmware == MainV2.Firmwares.Ateryx)
            {
                var flightModes = parm.GetParameterOptionsInt("FLTMODE1"); //same as apm
                return flightModes;
            }
            else if (cs.firmware == MainV2.Firmwares.ArduCopter2 || MainV2.comPort.MAV.cs.firmware == MainV2.Firmwares.ArduHeli)
            {
                var flightModes = parm.GetParameterOptionsInt("FLTMODE1");
                return flightModes;
            }
            else if (cs.firmware == MainV2.Firmwares.ArduRover)
            {
                var flightModes = parm.GetParameterOptionsInt("MODE1");
                return flightModes;
            }

            return null;
        }
Пример #2
0
        List<string[]> readLog(string fn)
        {
            if (logcache.Count > 0)
                return logcache;

            List<string[]> list = new List<string[]>();

            if (fn.ToLower().EndsWith("tlog"))
            {
                MAVLink mine = new MAVLink();
                mine.logplaybackfile = new BinaryReader(File.Open(fn, FileMode.Open, FileAccess.Read, FileShare.Read));
                mine.logreadmode = true;

                mine.MAV.packets.Initialize(); // clear

                CurrentState cs = new CurrentState();

                string[] oldvalues = {""};

                while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length)
                {

                    byte[] packet = mine.readPacket();

                    cs.datetime = mine.lastlogread;

                    cs.UpdateCurrentSettings(null, true, mine);

                    // old
                    //		line	"GPS: 82686250, 1, 8, -34.1406480, 118.5441900, 0.0000, 309.1900, 315.9500, 0.0000, 279.1200"	string

                    //Status,Time,NSats,HDop,Lat,Lng,RelAlt,Alt,Spd,GCrs
                    //GPS, 3, 122732, 10, 0.00, -35.3628880, 149.1621961, 808.90, 810.30, 23.30, 94.04

                    string[] vals = new string[] { "GPS", "3",  (cs.datetime.ToUniversalTime() - new DateTime(cs.datetime.Year,cs.datetime.Month,cs.datetime.Day,0,0,0,DateTimeKind.Utc)).TotalMilliseconds.ToString(),
                    cs.satcount.ToString(),cs.gpshdop.ToString(),cs.lat.ToString(),cs.lng.ToString(),cs.alt.ToString(),cs.alt.ToString(),cs.groundspeed.ToString(),cs.yaw.ToString()};

                    if (oldvalues.Length > 2 && oldvalues[latpos] == vals[latpos]
                        && oldvalues[lngpos] == vals[lngpos]
                        && oldvalues[altpos] == vals[altpos])
                        continue;

                    oldvalues = vals;

                    list.Add(vals);
                    // 4 5 7
                    Console.Write((mine.logplaybackfile.BaseStream.Position * 100 / mine.logplaybackfile.BaseStream.Length) + "    \r");

                }

                mine.logplaybackfile.Close();

                logcache = list;

                return list;
            }

            StreamReader sr = new StreamReader(fn);

            string lasttime = "0";

            while (!sr.EndOfStream)
            {
                string line = sr.ReadLine();

                if (line.ToLower().StartsWith("gps"))
                {
                    if (!sr.EndOfStream)
                    {
                        string line2 = sr.ReadLine();
                        if (line2.ToLower().StartsWith("att"))
                        {
                            line = string.Concat(line, ",", line2);
                        }
                    }
                    string[] vals = line.Split(new char[] {',',':'});

                    if (lasttime == vals[timepos])
                        continue;

                    lasttime = vals[timepos];

                    list.Add(vals);
                }

            }

            sr.Close();
            sr.Dispose();

            logcache = list;

            return list;
        }
Пример #3
0
        private void BUT_redokml_Click(object sender, EventArgs e)
        {
            OpenFileDialog openFileDialog1 = new OpenFileDialog();
            openFileDialog1.Filter = "*.tlog|*.tlog";
            openFileDialog1.FilterIndex = 2;
            openFileDialog1.RestoreDirectory = true;
            openFileDialog1.Multiselect = true;
            try
            {
                openFileDialog1.InitialDirectory = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs" + Path.DirectorySeparatorChar;
            }
            catch { } // incase dir doesnt exist

            if (openFileDialog1.ShowDialog() == DialogResult.OK)
            {
                foreach (string logfile in openFileDialog1.FileNames)
                {

                    MAVLink mine = new MAVLink();
                    mine.logplaybackfile = new BinaryReader(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.Read));
                    mine.logreadmode = true;

                    mine.packets.Initialize(); // clear

                    CurrentState cs = new CurrentState();

                    float oldlatlngalt = 0;

                    while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length)
                    {
                        // bar moves to 50 % in this step
                        progressBar1.Value = (int)((float)mine.logplaybackfile.BaseStream.Position / (float)mine.logplaybackfile.BaseStream.Length * 100.0f / 2.0f);
                        progressBar1.Refresh();

                        byte[] packet = mine.readPacket();

                        cs.datetime = mine.lastlogread;

                        cs.UpdateCurrentSettings(null, true, mine);

                        try
                        {
                            if (MainV2.talk != null)
                                MainV2.talk.SpeakAsyncCancelAll();
                        }
                        catch { } // ignore because of this Exception System.PlatformNotSupportedException: No voice installed on the system or none available with the current security setting.

                        if ((float)(cs.lat + cs.lng) != oldlatlngalt
                            && cs.lat != 0 && cs.lng != 0)
                        {
                            Console.WriteLine(cs.lat + " " + cs.lng + " " + cs.alt + "   lah " + (float)(cs.lat + cs.lng + cs.alt) + "!=" + oldlatlngalt);
                            CurrentState cs2 = (CurrentState)cs.Clone();

                            flightdata.Add(cs2);

                            oldlatlngalt = (cs.lat + cs.lng);
                        }
                    }

                    mine.logreadmode = false;
                    mine.logplaybackfile.Close();
                    mine.logplaybackfile = null;

                    writeKML(logfile + ".kml");

                    progressBar1.Value = 100;

                }
            }
        }
Пример #4
0
        public void timer()
        {
            Control.CheckForIllegalCrossThreadCalls = false;

            videopos = startlogtime.AddMilliseconds(-startlogtime.Millisecond);
            hud1.SixteenXNine = true;

            while (true)
            {
                try
                {
                 //   GC.Collect();

                  //  long mem = GC.GetTotalMemory(true) / 1024 / 1024;

                   // Console.WriteLine("mem "+mem);
                    System.Threading.Thread.Sleep(20); // 25 fps

                  //  videopos = videopos.AddMilliseconds(1000 / 25);

            //                    m_mediaseek = m_FilterGraph as IMediaSeeking;

                  //  m_mediapos.put_CurrentPosition((vidpos - startlogtime).TotalSeconds);

                    //m_mediaseek.SetTimeFormat(TimeFormat.MediaTime);

                    //long poscurrent = 0;
                    //long posend = 0;

            //                    m_mediaseek.GetPositions(out poscurrent,out posend);

                    DateTime cstimestamp = videopos.AddSeconds(trackBar1.Value).AddMilliseconds(-(videopos.Millisecond % 20));

                    int tb = trackBar1.Value;

                    if (flightdata.ContainsKey(cstimestamp))
                    {
                        cs = flightdata[cstimestamp];
                    }
                    else if (flightdata.ContainsKey(cstimestamp.AddMilliseconds(-20)))
                    {
                        cs = flightdata[cstimestamp.AddMilliseconds(-20)];
                    }
                    else if (flightdata.ContainsKey(cstimestamp.AddMilliseconds(-40)))
                    {
                        cs = flightdata[cstimestamp.AddMilliseconds(-40)];
                    }

                   // Console.WriteLine("Update CS");

                    cs.UpdateCurrentSettings(bindingSource1);

                }
                catch (ThreadAbortException)
                {
                    break;
                }
                catch
                {

                }
            }
        }
Пример #5
0
        List<string[]> readLog(string fn)
        {
            List<string[]> list = new List<string[]>();

            if (fn.ToLower().EndsWith("tlog"))
            {
                MAVLink mine = new MAVLink();
                mine.logplaybackfile = new BinaryReader(File.Open(fn, FileMode.Open, FileAccess.Read, FileShare.Read));
                mine.logreadmode = true;

                mine.packets.Initialize(); // clear

                CurrentState cs = new CurrentState();

                string[] oldvalues = {""};

                while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length)
                {

                    byte[] packet = mine.readPacket();

                    cs.datetime = mine.lastlogread;

                    cs.UpdateCurrentSettings(null, true, mine);

                    //		line	"GPS: 82686250, 1, 8, -34.1406480, 118.5441900, 0.0000, 309.1900, 315.9500, 0.0000, 279.1200"	string

                    string[] vals = new string[] { "GPS", (cs.datetime - new DateTime(cs.datetime.Year,cs.datetime.Month,cs.datetime.Day,0,0,0,DateTimeKind.Local)).TotalMilliseconds.ToString(), "1",
                    cs.satcount.ToString(),cs.lat.ToString(),cs.lng.ToString(),"0.0",cs.alt.ToString(),cs.alt.ToString(),"0.0",cs.groundcourse.ToString()};

                    if (oldvalues.Length > 2 && oldvalues[latpos] == vals[latpos]
                        && oldvalues[lngpos] == vals[lngpos]
                        && oldvalues[altpos] == vals[altpos])
                        continue;

                    oldvalues = vals;

                    list.Add(vals);
                    // 4 5 7
                    Console.Write((mine.logplaybackfile.BaseStream.Position * 100 / mine.logplaybackfile.BaseStream.Length) + "    \r");

                }

                mine.logplaybackfile.Close();

                return list;
            }

            StreamReader sr = new StreamReader(fn);

            string lasttime = "0";

            while (!sr.EndOfStream)
            {
                string line = sr.ReadLine();

                if (line.ToLower().StartsWith("gps"))
                {
                    string[] vals = line.Split(new char[] {',',':'});

                    if (lasttime == vals[1])
                        continue;

                    lasttime = vals[1];

                    list.Add(vals);
                }
            }

            sr.Close();
            sr.Dispose();

            return list;
        }