Inheritance: System.Windows.Forms.Form
示例#1
0
 internal void ProcessDeviceChanged(MainV2.WM_DEVICECHANGE_enum dc) {
     if (DeviceChanged != null)
     {
         try
         {
             DeviceChanged(dc);
         }
         catch {  }
     }
 }
示例#2
0
        public static CultureInfo GetConfigLang()
        {
            CultureInfo ci = CultureInfoEx.GetCultureInfo(MainV2.getConfig("language"));

            if (ci != null)
            {
                return(ci);
            }
            else
            {
                return(System.Globalization.CultureInfo.CurrentUICulture);
            }
        }
示例#3
0
 void deviceChanged(MainV2.WM_DEVICECHANGE_enum cause)
 {
     GPSDevice gpsModule = getDevice();
     if ((gpsModule != null))
     {
         if (_Available == false)
         {
             _Available = true;
             if (CustomMessageBox.Show("A GPS module was detected on your system. Would you like to use it to set your tracker home location?", "Tracker Home", MessageBoxButtons.YesNo) == DialogResult.Yes)
             {
                 GPSPosition pos = gpsModule.GetCoordinates();
                 double alt = getGEAlt(pos.Lat, pos.Lng);
                 Host.comPort.MAV.cs.TrackerLocation = new PointLatLngAlt(pos.Lat, pos.Lng, alt, "Tracker Home");
             }
         }
     }
     else if (_Available == true) _Available = false;
 }
示例#4
0
        /// <summary>
        /// main serial reader thread
        /// controls
        /// serial reading
        /// link quality stats
        /// speech voltage - custom - alt warning - data lost
        /// heartbeat packet sending
        /// 
        /// and can't fall out
        /// </summary>
        internal async Task SerialReader()
        {
            if (serialThread == true)
                return;
            serialThread = true;

            SerialThreadrunner.Reset();

            int minbytes = 10;

            int altwarningmax = 0;

            bool armedstatus = false;

            string lastmessagehigh = "";

            DateTime speechcustomtime = DateTime.Now;

            DateTime speechlowspeedtime = DateTime.Now;

            DateTime linkqualitytime = DateTime.Now;

            while (serialThread)
            {
                try
                {
                    Thread.Sleep(1); // was 5

            

                    // update connect/disconnect button and info stats
                    try
                    {
                        //UpdateConnectIcon();
                    }
                    catch (Exception ex)
                    {
                        log.Error(ex);
                    }

                    // 30 seconds interval speech options
                    if (MainV2.speechEnabled() && speechEngine != null && (DateTime.Now - speechcustomtime).TotalSeconds > 30 &&
                        (MainV2.comPort.logreadmode || comPort.BaseStream.IsOpen))
                    {
                        if (MainV2.speechEngine.IsReady)
                        {
                            if (Settings.Instance.GetBoolean("speechcustomenabled"))
                            {
                                MainV2.speechEngine.SpeakAsync(ArduPilot.Common.speechConversion(comPort.MAV, "" + Settings.Instance["speechcustom"]));
                            }

                            speechcustomtime = DateTime.Now;
                        }

                        // speech for battery alerts
                        //speechbatteryvolt
                        float warnvolt = Settings.Instance.GetFloat("speechbatteryvolt");
                        float warnpercent = Settings.Instance.GetFloat("speechbatterypercent");

                        if (Settings.Instance.GetBoolean("speechbatteryenabled") == true &&
                            MainV2.comPort.MAV.cs.battery_voltage <= warnvolt &&
                            MainV2.comPort.MAV.cs.battery_voltage >= 5.0)
                        {
                            if (MainV2.speechEngine.IsReady)
                            {
                                MainV2.speechEngine.SpeakAsync(ArduPilot.Common.speechConversion(comPort.MAV, "" + Settings.Instance["speechbattery"]));
                            }
                        }
                        else if (Settings.Instance.GetBoolean("speechbatteryenabled") == true &&
                                 (MainV2.comPort.MAV.cs.battery_remaining) < warnpercent &&
                                 MainV2.comPort.MAV.cs.battery_voltage >= 5.0 &&
                                 MainV2.comPort.MAV.cs.battery_remaining != 0.0)
                        {
                            if (MainV2.speechEngine.IsReady)
                            {
                                MainV2.speechEngine.SpeakAsync(
                                    ArduPilot.Common.speechConversion(comPort.MAV, "" + Settings.Instance["speechbattery"]));
                            }
                        }
                    }

                    // speech for airspeed alerts
                    if (speechEnabled() && speechEngine != null && (DateTime.Now - speechlowspeedtime).TotalSeconds > 10 &&
                        (MainV2.comPort.logreadmode || comPort.BaseStream.IsOpen))
                    {
                        if (Settings.Instance.GetBoolean("speechlowspeedenabled") == true && MainV2.comPort.MAV.cs.armed)
                        {
                            float warngroundspeed = Settings.Instance.GetFloat("speechlowgroundspeedtrigger");
                            float warnairspeed = Settings.Instance.GetFloat("speechlowairspeedtrigger");

                            if (MainV2.comPort.MAV.cs.airspeed < warnairspeed)
                            {
                                if (MainV2.speechEngine.IsReady)
                                {
                                    MainV2.speechEngine.SpeakAsync(
                                        ArduPilot.Common.speechConversion(comPort.MAV, "" + Settings.Instance["speechlowairspeed"]));
                                    speechlowspeedtime = DateTime.Now;
                                }
                            }
                            else if (MainV2.comPort.MAV.cs.groundspeed < warngroundspeed)
                            {
                                if (MainV2.speechEngine.IsReady)
                                {
                                    MainV2.speechEngine.SpeakAsync(
                                        ArduPilot.Common.speechConversion(comPort.MAV, "" + Settings.Instance["speechlowgroundspeed"]));
                                    speechlowspeedtime = DateTime.Now;
                                }
                            }
                            else
                            {
                                speechlowspeedtime = DateTime.Now;
                            }
                        }
                    }

                    // speech altitude warning - message high warning
                    if ((speechEnabled()  && speechEngine != null &&
                        (MainV2.comPort.logreadmode || comPort.BaseStream.IsOpen))
                    {
                        float warnalt = float.MaxValue;
                        if (Settings.Instance.ContainsKey("speechaltheight"))
                        {
                            warnalt = Settings.Instance.GetFloat("speechaltheight");
                        }
                        try
                        {
                            altwarningmax = (int)Math.Max(MainV2.comPort.MAV.cs.alt, altwarningmax);

                            if (Settings.Instance.GetBoolean("speechaltenabled") == true && MainV2.comPort.MAV.cs.alt != 0.00 &&
                                (MainV2.comPort.MAV.cs.alt <= warnalt) && MainV2.comPort.MAV.cs.armed)
                            {
                                if (altwarningmax > warnalt)
                                {
                                    if (MainV2.speechEngine.IsReady)
                                        MainV2.speechEngine.SpeakAsync(
                                            ArduPilot.Common.speechConversion(comPort.MAV, "" + Settings.Instance["speechalt"]));
                                }
                            }
                        }
                        catch
                        {
                        } // silent fail


                        try
                        {
                            // say the latest high priority message
                            if (MainV2.speechEngine.IsReady &&
                                lastmessagehigh != MainV2.comPort.MAV.cs.messageHigh && MainV2.comPort.MAV.cs.messageHigh != null)
                            {
                                if (!MainV2.comPort.MAV.cs.messageHigh.StartsWith("PX4v2 "))
                                {
                                    MainV2.speechEngine.SpeakAsync(MainV2.comPort.MAV.cs.messageHigh);
                                    lastmessagehigh = MainV2.comPort.MAV.cs.messageHigh;
                                }
                            }
                        }
                        catch
                        {
                        }
                    }

                    // not doing anything
                    if (!MainV2.comPort.logreadmode && !comPort.BaseStream.IsOpen)
                    {
                        altwarningmax = 0;
                    }

                    // attenuate the link qualty over time
                    if ((DateTime.Now - MainV2.comPort.MAV.lastvalidpacket).TotalSeconds >= 1)
                    {
                        if (linkqualitytime.Second != DateTime.Now.Second)
                        {
                            MainV2.comPort.MAV.cs.linkqualitygcs = (ushort)(MainV2.comPort.MAV.cs.linkqualitygcs * 0.8f);
                            linkqualitytime = DateTime.Now;

                            // force redraw if there are no other packets are being read
                        
                        }
                    }

                    // data loss warning - wait min of 10 seconds, ignore first 30 seconds of connect, repeat at 5 seconds interval
                    if ((DateTime.Now - MainV2.comPort.MAV.lastvalidpacket).TotalSeconds > 10
                        && (DateTime.Now - connecttime).TotalSeconds > 30
                        && (DateTime.Now - nodatawarning).TotalSeconds > 5
                        && (MainV2.comPort.logreadmode || comPort.BaseStream.IsOpen)
                        && MainV2.comPort.MAV.cs.armed)
                    {
                        if (speechEnable && speechEngine != null)
                        {
                            if (MainV2.speechEngine.IsReady)
                            {
                                MainV2.speechEngine.SpeakAsync("WARNING No Data for " +
                                                               (int)
                                                                   (DateTime.Now - MainV2.comPort.MAV.lastvalidpacket)
                                                                       .TotalSeconds + " Seconds");
                                nodatawarning = DateTime.Now;
                            }
                        }
                    }

                    // get home point on armed status change.
                    if (armedstatus != MainV2.comPort.MAV.cs.armed && comPort.BaseStream.IsOpen)
                    {
                        armedstatus = MainV2.comPort.MAV.cs.armed;
                        // status just changed to armed
                        if (MainV2.comPort.MAV.cs.armed == true &&
                            MainV2.comPort.MAV.apname != MAVLink.MAV_AUTOPILOT.INVALID &&
                            MainV2.comPort.MAV.aptype != MAVLink.MAV_TYPE.GIMBAL)
                        {
                            System.Threading.ThreadPool.QueueUserWorkItem(state =>
                            {
                                Thread.CurrentThread.Name = "Arm State change";
                                try
                                {
                                    while (comPort.giveComport == true)
                                        Thread.Sleep(100);

                                    MainV2.comPort.MAV.cs.HomeLocation = new PointLatLngAlt(MainV2.comPort.getWP(0));
                         

                                }
                                catch
                                {
                                    // dont hang this loop
                             
                                }
                            });
                        }

                        if (speechEnable && speechEngine != null)
                        {
                            if (Settings.Instance.GetBoolean("speecharmenabled"))
                            {
                                string speech = armedstatus ? Settings.Instance["speecharm"] : Settings.Instance["speechdisarm"];
                                if (!string.IsNullOrEmpty(speech))
                                {
                                    MainV2.speechEngine.SpeakAsync(ArduPilot.Common.speechConversion(comPort.MAV, speech));
                                }
                            }
                        }
                    }

                    // send a hb every seconds from gcs to ap
                    if (heatbeatSend.Second != DateTime.Now.Second)
                    {
                        MAVLink.mavlink_heartbeat_t htb = new MAVLink.mavlink_heartbeat_t()
                        {
                            type = (byte)MAVLink.MAV_TYPE.GCS,
                            autopilot = (byte)MAVLink.MAV_AUTOPILOT.INVALID,
                            mavlink_version = 3 // MAVLink.MAVLINK_VERSION
                        };

                        // enumerate each link
                        foreach (var port in Comports.ToArray())
                        {
                            if (!port.BaseStream.IsOpen)
                                continue;

                            // poll for params at heartbeat interval - primary mav on this port only
                            if (!port.giveComport)
                            {
                                try
                                {
                                    // poll only when not armed
                                    if (!port.MAV.cs.armed)
                                    {
                                        port.getParamPoll();
                                        port.getParamPoll();
                                    }
                                }
                                catch
                                {
                                }
                            }

                            // there are 3 hb types we can send, mavlink1, mavlink2 signed and unsigned
                            bool sentsigned = false;
                            bool sentmavlink1 = false;
                            bool sentmavlink2 = false;

                            // enumerate each mav
                            foreach (var MAV in port.MAVlist)
                            {
                                try
                                {
                                    // poll for version if we dont have it - every mav every port
                                    if (!port.giveComport && !MAV.cs.armed && (DateTime.Now.Second % 20) == 0 && MAV.cs.version < new Version(0, 1))
                                        port.getVersion(MAV.sysid, MAV.compid, false);

                                    // are we talking to a mavlink2 device
                                    if (MAV.mavlinkv2)
                                    {
                                        // is signing enabled
                                        if (MAV.signing)
                                        {
                                            // check if we have already sent
                                            if (sentsigned)
                                                continue;
                                            sentsigned = true;
                                        }
                                        else
                                        {
                                            // check if we have already sent
                                            if (sentmavlink2)
                                                continue;
                                            sentmavlink2 = true;
                                        }
                                    }
                                    else
                                    {
                                        // check if we have already sent
                                        if (sentmavlink1)
                                            continue;
                                        sentmavlink1 = true;
                                    }

                                    port.sendPacket(htb, MAV.sysid, MAV.compid);
                                }
                                catch (Exception ex)
                                {
                                    log.Error(ex);
                                    // close the bad port
                                    try
                                    {
                                        port.Close();
                                    }
                                    catch
                                    {
                                    }
                                    // refresh the screen if needed
                                    if (port == MainV2.comPort)
                                    {
                                        // refresh config window if needed
                               
                                    }
                                }
                            }
                        }

                        heatbeatSend = DateTime.Now;
                    }

                    // if not connected or busy, sleep and loop
                    if (!comPort.BaseStream.IsOpen || comPort.giveComport == true)
                    {
                        if (!comPort.BaseStream.IsOpen)
                        {
                            // check if other ports are still open
                            foreach (var port in Comports)
                            {
                                if (port.BaseStream.IsOpen)
                                {
                                    Console.WriteLine("Main comport shut, swapping to other mav");
                                    comPort = port;
                                    break;
                                }
                            }
                        }

                        System.Threading.Thread.Sleep(100);
                    }

                    // read the interfaces
                    foreach (var port in Comports.ToArray())
                    {
                        if (!port.BaseStream.IsOpen)
                        {
                            // skip primary interface
                            if (port == comPort)
                                continue;

                            // modify array and drop out
                            Comports.Remove(port);
                            port.Dispose();
                            break;
                        }

                        DateTime startread = DateTime.Now;

                        // must be open, we have bytes, we are not yielding the port,
                        // the thread is meant to be running and we only spend 1 seconds max in this read loop
                        while (port.BaseStream.IsOpen && port.BaseStream.BytesToRead > minbytes &&
                               port.giveComport == false && serialThread && startread.AddSeconds(1) > DateTime.Now)
                        {
                            try
                            {
                                await port.readPacketAsync().ConfigureAwait(false);
                            }
                            catch (Exception ex)
                            {
                                log.Error(ex);
                            }
                        }
                        // update currentstate of sysids on the port
                        foreach (var MAV in port.MAVlist)
                        {
                            try
                            {
                                MAV.cs.UpdateCurrentSettings(null, false, port, MAV);
                            }
                            catch (Exception ex)
                            {
                                log.Error(ex);
                            }
                        }
                    }
                }
                catch (Exception e)
                {
               
                    log.Error("Serial Reader fail :" + e.ToString());
                    try
                    {
                        comPort.Close();
                    }
                    catch (Exception ex)
                    {
                        log.Error(ex);
                    }
                }
            }

            Console.WriteLine("SerialReader Done");
            SerialThreadrunner.Set();
        }
示例#5
0
 static MainV2()
 {
     instance = new MainV2();
 }
示例#6
0
        public MainV2()
        {
            log.Info("Mainv2 ctor");

            ShowAirports = true;

            // setup adsb
            Utilities.adsb.UpdatePlanePosition += adsb_UpdatePlanePosition;

            Form splash = Program.Splash;

            splash.Refresh();

            Application.DoEvents();

            instance = this;

            //disable dpi scaling
            if (Font.Name != "宋体") //Chinese displayed normally when scaling. But would be too small or large using this line of code.
                Font = new Font(Font.Name, 8.25f * 96f / CreateGraphics().DpiX, Font.Style, Font.Unit, Font.GdiCharSet, Font.GdiVerticalFont);

            InitializeComponent();

            MyView = new MainSwitcher(this);

            View = MyView;

            AdvancedChanged += updateAdvanced;

            //startup console
            TCPConsole.Write((byte)'S');

            // full screen
            //this.TopMost = true;
            //this.FormBorderStyle = System.Windows.Forms.FormBorderStyle.None;
            //this.WindowState = FormWindowState.Maximized;

            _connectionControl = toolStripConnectionControl.ConnectionControl;
            _connectionControl.CMB_baudrate.TextChanged += this.CMB_baudrate_TextChanged;
            _connectionControl.CMB_serialport.SelectedIndexChanged += this.CMB_serialport_SelectedIndexChanged;
            _connectionControl.CMB_serialport.Click += this.CMB_serialport_Click;
            _connectionControl.TOOL_APMFirmware.SelectedIndexChanged += this.TOOL_APMFirmware_SelectedIndexChanged;

            _connectionControl.ShowLinkStats += (sender, e) => ShowConnectionStatsForm();
            srtm.datadirectory = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + "srtm";

            var t = Type.GetType("Mono.Runtime");
            MONO = (t != null);

            speechEngine = new Speech();

            Warnings.CustomWarning.defaultsrc = comPort.MAV.cs;
            Warnings.WarningEngine.Start();

            // proxy loader - dll load now instead of on config form load
            new Transition(new TransitionType_EaseInEaseOut(2000));

            //MyRenderer.currentpressed = MenuFlightData;

            //MainMenu.Renderer = new MyRenderer();

            foreach (object obj in Enum.GetValues(typeof(Firmwares)))
            {
                _connectionControl.TOOL_APMFirmware.Items.Add(obj);
            }

            if (_connectionControl.TOOL_APMFirmware.Items.Count > 0)
                _connectionControl.TOOL_APMFirmware.SelectedIndex = 0;

            comPort.BaseStream.BaudRate = 115200;

            PopulateSerialportList();
            if (_connectionControl.CMB_serialport.Items.Count > 0)
            {
                _connectionControl.CMB_baudrate.SelectedIndex = 8;
                _connectionControl.CMB_serialport.SelectedIndex = 0;
            }
            // ** Done

            splash.Refresh();
            Application.DoEvents();

            // set this before we reset it
            MainV2.config["NUM_tracklength"] = "200";

            // create one here - but override on load
            MainV2.config["guid"] = Guid.NewGuid().ToString();

            // load config
            xmlconfig(false);

            MissionPlanner.Utilities.Tracking.cid = new Guid(MainV2.config["guid"].ToString());

            // setup guids for droneshare
            if (!MainV2.config.ContainsKey("plane_guid"))
                MainV2.config["plane_guid"] = Guid.NewGuid().ToString();

            if (!MainV2.config.ContainsKey("copter_guid"))
                MainV2.config["copter_guid"] = Guid.NewGuid().ToString();

            if (!MainV2.config.ContainsKey("rover_guid"))
                MainV2.config["rover_guid"] = Guid.NewGuid().ToString();

            if (config.ContainsKey("language") && !string.IsNullOrEmpty((string)config["language"]))
            {
                changelanguage(CultureInfoEx.GetCultureInfo((string)config["language"]));
            }

            this.Text = splash.Text;
            titlebar = splash.Text;

            if (!MONO) // windows only
            {
                if (MainV2.config["showconsole"] != null && MainV2.config["showconsole"].ToString() == "True")
                {
                }
                else
                {
                    int win = NativeMethods.FindWindow("ConsoleWindowClass", null);
                    NativeMethods.ShowWindow(win, NativeMethods.SW_HIDE); // hide window
                }

                // prevent system from sleeping while mp open
                var previousExecutionState = NativeMethods.SetThreadExecutionState(NativeMethods.ES_CONTINUOUS | NativeMethods.ES_SYSTEM_REQUIRED);
            }

            ChangeUnits();

            if (config["theme"] != null)
            {
                ThemeManager.SetTheme((ThemeManager.Themes)Enum.Parse(typeof(ThemeManager.Themes), MainV2.config["theme"].ToString()));

                if (ThemeManager.CurrentTheme == ThemeManager.Themes.Custom)
                {
                    try
                    {
                        ThemeManager.BGColor = Color.FromArgb(int.Parse(MainV2.config["theme_bg"].ToString()));
                        ThemeManager.ControlBGColor = Color.FromArgb(int.Parse(MainV2.config["theme_ctlbg"].ToString()));
                        ThemeManager.TextColor = Color.FromArgb(int.Parse(MainV2.config["theme_text"].ToString()));
                        ThemeManager.ButBG = Color.FromArgb(int.Parse(MainV2.config["theme_butbg"].ToString()));
                        ThemeManager.ButBorder = Color.FromArgb(int.Parse(MainV2.config["theme_butbord"].ToString()));
                    }
                    catch { log.Error("Bad Custom theme - reset to standard"); ThemeManager.SetTheme(ThemeManager.Themes.BurntKermit); }
                }

                if (ThemeManager.CurrentTheme == ThemeManager.Themes.HighContrast)
                {
                    switchlight(new menuicons2());
                }
            }

            if (MainV2.config["showairports"] != null)
            {
                MainV2.ShowAirports = bool.Parse(config["showairports"].ToString());
            }

            // set default
            ShowTFR = true;
            // load saved
            if (MainV2.config["showtfr"] != null)
            {
                MainV2.ShowTFR = bool.Parse(config["showtfr"].ToString());
            }

            if (MainV2.config["enableadsb"] != null)
            {
                MainV2.instance.EnableADSB = bool.Parse(config["enableadsb"].ToString());
            }

            // load this before the other screens get loaded
            if (MainV2.config["advancedview"] != null)
            {
                MainV2.Advanced = bool.Parse(config["advancedview"].ToString());
            }
            else
            {
                // existing user - enable advanced view
                if (MainV2.config.Count > 3)
                {
                    config["advancedview"] = true.ToString();
                    MainV2.Advanced = true;
                }
                else
                {
                    config["advancedview"] = false.ToString();
                }
            }


            try
            {
                log.Info("Create FD");
                FlightData = new GCSViews.FlightData();
                log.Info("Create FP");
                FlightPlanner = new GCSViews.FlightPlanner();
                //Configuration = new GCSViews.ConfigurationView.Setup();
                log.Info("Create SIM");
                Simulation = new GCSViews.Simulation();
                //Firmware = new GCSViews.Firmware();
                //Terminal = new GCSViews.Terminal();

                FlightData.Width = MyView.Width;
                FlightPlanner.Width = MyView.Width;
                Simulation.Width = MyView.Width;
            }
            catch (ArgumentException e)
            {
                //http://www.microsoft.com/en-us/download/details.aspx?id=16083
                //System.ArgumentException: Font 'Arial' does not support style 'Regular'.

                log.Fatal(e);
                CustomMessageBox.Show(e.ToString() + "\n\n Font Issues? Please install this http://www.microsoft.com/en-us/download/details.aspx?id=16083");
                //splash.Close();
                //this.Close();
                Application.Exit();
            }
            catch (Exception e) { log.Fatal(e); CustomMessageBox.Show("A Major error has occured : " + e.ToString()); Application.Exit(); }

            if (MainV2.config["CHK_GDIPlus"] != null)
                GCSViews.FlightData.myhud.UseOpenGL = !bool.Parse(MainV2.config["CHK_GDIPlus"].ToString());

            if (MainV2.config["CHK_hudshow"] != null)
                GCSViews.FlightData.myhud.hudon = bool.Parse(MainV2.config["CHK_hudshow"].ToString());

            try
            {
                if (config["MainLocX"] != null && config["MainLocY"] != null)
                {
                    this.StartPosition = FormStartPosition.Manual;
                    Point startpos = new Point(int.Parse(config["MainLocX"].ToString()), int.Parse(config["MainLocY"].ToString()));
                    this.Location = startpos;
                }

                if (config["MainMaximised"] != null)
                {
                    this.WindowState = (FormWindowState)Enum.Parse(typeof(FormWindowState), config["MainMaximised"].ToString());
                    // dont allow minimised start state
                    if (this.WindowState == FormWindowState.Minimized)
                    {
                        this.WindowState = FormWindowState.Normal;
                        this.Location = new Point(100, 100);
                    }
                }

                if (config["MainHeight"] != null)
                    this.Height = int.Parse(config["MainHeight"].ToString());
                if (config["MainWidth"] != null)
                    this.Width = int.Parse(config["MainWidth"].ToString());

                if (config["CMB_rateattitude"] != null)
                    MainV2.comPort.MAV.cs.rateattitude = byte.Parse(config["CMB_rateattitude"].ToString());
                if (config["CMB_rateposition"] != null)
                    MainV2.comPort.MAV.cs.rateposition = byte.Parse(config["CMB_rateposition"].ToString());
                if (config["CMB_ratestatus"] != null)
                    MainV2.comPort.MAV.cs.ratestatus = byte.Parse(config["CMB_ratestatus"].ToString());
                if (config["CMB_raterc"] != null)
                    MainV2.comPort.MAV.cs.raterc = byte.Parse(config["CMB_raterc"].ToString());
                if (config["CMB_ratesensors"] != null)
                    MainV2.comPort.MAV.cs.ratesensors = byte.Parse(config["CMB_ratesensors"].ToString());

                if (config["speechenable"] != null)
                    MainV2.speechEnable = bool.Parse(config["speechenable"].ToString());

                if (MainV2.config["analyticsoptout"] != null)
                    MissionPlanner.Utilities.Tracking.OptOut = bool.Parse(config["analyticsoptout"].ToString());

                try
                {
                    if (config["TXT_homelat"] != null)
                        MainV2.comPort.MAV.cs.HomeLocation.Lat = double.Parse(config["TXT_homelat"].ToString());

                    if (config["TXT_homelng"] != null)
                        MainV2.comPort.MAV.cs.HomeLocation.Lng = double.Parse(config["TXT_homelng"].ToString());

                    if (config["TXT_homealt"] != null)
                        MainV2.comPort.MAV.cs.HomeLocation.Alt = double.Parse(config["TXT_homealt"].ToString());

                    // remove invalid entrys
                    if (Math.Abs(MainV2.comPort.MAV.cs.HomeLocation.Lat) > 90 || Math.Abs(MainV2.comPort.MAV.cs.HomeLocation.Lng) > 180)
                        MainV2.comPort.MAV.cs.HomeLocation = new PointLatLngAlt();
                }
                catch { }
            }
            catch { }

            if (MainV2.comPort.MAV.cs.rateattitude == 0) // initilised to 10, configured above from save
            {
                CustomMessageBox.Show("NOTE: your attitude rate is 0, the hud will not work\nChange in Configuration > Planner > Telemetry Rates");
            }

            // log dir

            if (config["logdirectory"] != null)
                MainV2.LogDir = config["logdirectory"].ToString();

            // create log dir if it doesnt exist
            if (!Directory.Exists(MainV2.LogDir))
                Directory.CreateDirectory(MainV2.LogDir);

            //System.Threading.Thread.Sleep(2000);

            Microsoft.Win32.SystemEvents.PowerModeChanged += SystemEvents_PowerModeChanged;

            // make sure new enough .net framework is installed
            if (!MONO)
            {
                Microsoft.Win32.RegistryKey installed_versions = Microsoft.Win32.Registry.LocalMachine.OpenSubKey(@"SOFTWARE\Microsoft\NET Framework Setup\NDP");
                string[] version_names = installed_versions.GetSubKeyNames();
                //version names start with 'v', eg, 'v3.5' which needs to be trimmed off before conversion
                double Framework = Convert.ToDouble(version_names[version_names.Length - 1].Remove(0, 1), CultureInfo.InvariantCulture);
                int SP = Convert.ToInt32(installed_versions.OpenSubKey(version_names[version_names.Length - 1]).GetValue("SP", 0));

                if (Framework < 4.0)
                {
                    CustomMessageBox.Show("This program requires .NET Framework 4.0. You currently have " + Framework);
                }
            }

            if (Program.Logo != null)
            {
                this.Icon = Icon.FromHandle(((Bitmap)Program.Logo).GetHicon());
            }

            if (Program.Logo != null && Program.vvvvz)
            {
                MenuDonate.Click -= this.toolStripMenuItem1_Click;
                MenuDonate.Text = "";
                MenuDonate.Image = Program.Logo;

                MenuDonate.Click += MenuCustom_Click;

                MenuFlightData.Visible = false;
                MenuFlightPlanner.Visible = true;
                MenuConfigTune.Visible = false;
                MenuHelp.Visible = false;
                MenuInitConfig.Visible = false;
                MenuSimulation.Visible = false;
                MenuTerminal.Visible = false;
            }

            Application.DoEvents();

            Comports.Add(comPort);

            // save config to test we have write access
            xmlconfig(true);
        }
示例#7
0
        public MainV2()
        {
            log.Info("Mainv2 ctor");

            Form splash = Program.Splash;

            splash.Refresh();

            Application.DoEvents();

            instance = this;

            InitializeComponent();

            MyView = new MainSwitcher(this);

            View = MyView;

            POIs.CollectionChanged += POIs_CollectionChanged;

            // full screen
            //this.TopMost = true;
            //this.FormBorderStyle = System.Windows.Forms.FormBorderStyle.None;
            //this.WindowState = FormWindowState.Maximized;

            _connectionControl = toolStripConnectionControl.ConnectionControl;
            _connectionControl.CMB_baudrate.TextChanged += this.CMB_baudrate_TextChanged;
            _connectionControl.CMB_serialport.SelectedIndexChanged += this.CMB_serialport_SelectedIndexChanged;
            _connectionControl.CMB_serialport.Enter += this.CMB_serialport_Enter;
            _connectionControl.CMB_serialport.Click += this.CMB_serialport_Click;
            _connectionControl.TOOL_APMFirmware.SelectedIndexChanged += this.TOOL_APMFirmware_SelectedIndexChanged;

            _connectionControl.ShowLinkStats += (sender, e) => ShowConnectionStatsForm();
            srtm.datadirectory = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + "srtm";

            var t = Type.GetType("Mono.Runtime");
            MONO = (t != null);

            speechEngine = new Speech();

            // proxy loader - dll load now instead of on config form load
            new Transition(new TransitionType_EaseInEaseOut(2000));

            //MyRenderer.currentpressed = MenuFlightData;

            //MainMenu.Renderer = new MyRenderer();

            foreach (object obj in Enum.GetValues(typeof(Firmwares)))
            {
                _connectionControl.TOOL_APMFirmware.Items.Add(obj);
            }

            if (_connectionControl.TOOL_APMFirmware.Items.Count > 0)
                _connectionControl.TOOL_APMFirmware.SelectedIndex = 0;

            comPort.BaseStream.BaudRate = 115200;

            // ** Old
            //            CMB_serialport.Items.AddRange(SerialPort.GetPortNames());
            //            CMB_serialport.Items.Add("TCP");
            //            CMB_serialport.Items.Add("UDP");
            //            if (CMB_serialport.Items.Count > 0)
            //            {
            //                CMB_baudrate.SelectedIndex = 7;
            //                CMB_serialport.SelectedIndex = 0;
            //            }
            // ** new
            _connectionControl.CMB_serialport.Items.Add("AUTO");
            _connectionControl.CMB_serialport.Items.AddRange(SerialPort.GetPortNames());
            _connectionControl.CMB_serialport.Items.Add("TCP");
            _connectionControl.CMB_serialport.Items.Add("UDP");
            if (_connectionControl.CMB_serialport.Items.Count > 0)
            {
                _connectionControl.CMB_baudrate.SelectedIndex = 8;
                _connectionControl.CMB_serialport.SelectedIndex = 0;
            }
            // ** Done

            splash.Refresh();
            Application.DoEvents();

            // set this before we reset it
            MainV2.config["NUM_tracklength"] = "200";

            // create one here - but override on load
            MainV2.config["guid"] = Guid.NewGuid().ToString();

            // load config
            xmlconfig(false);

            MissionPlanner.Utilities.Tracking.cid = new Guid(MainV2.config["guid"].ToString());

            if (config.ContainsKey("language") && !string.IsNullOrEmpty((string)config["language"]))
            {
                changelanguage(CultureInfoEx.GetCultureInfo((string)config["language"]));
            }

            this.Text = splash.Text;

            if (!MONO) // windows only
            {
                if (MainV2.config["showconsole"] != null && MainV2.config["showconsole"].ToString() == "True")
                {
                }
                else
                {
                    int win = NativeMethods.FindWindow("ConsoleWindowClass", null);
                    NativeMethods.ShowWindow(win, NativeMethods.SW_HIDE); // hide window
                }
            }

            ChangeUnits();

            if (config["theme"] != null)
            {
                ThemeManager.SetTheme((ThemeManager.Themes)Enum.Parse(typeof(ThemeManager.Themes), MainV2.config["theme"].ToString()));

                if (ThemeManager.CurrentTheme == ThemeManager.Themes.Custom)
                {
                    try
                    {
                        ThemeManager.BGColor = Color.FromArgb(int.Parse(MainV2.config["theme_bg"].ToString()));
                        ThemeManager.ControlBGColor = Color.FromArgb(int.Parse(MainV2.config["theme_ctlbg"].ToString()));
                        ThemeManager.TextColor = Color.FromArgb(int.Parse(MainV2.config["theme_text"].ToString()));
                        ThemeManager.ButBG = Color.FromArgb(int.Parse(MainV2.config["theme_butbg"].ToString()));
                        ThemeManager.ButBorder = Color.FromArgb(int.Parse(MainV2.config["theme_butbord"].ToString()));
                    }
                    catch { log.Error("Bad Custom theme - reset to standard"); ThemeManager.SetTheme(ThemeManager.Themes.BurntKermit); }
                }
            }

            try
            {
                log.Info("Create FD");
                FlightData = new GCSViews.FlightData();
                log.Info("Create FP");
                FlightPlanner = new GCSViews.FlightPlanner();
                //Configuration = new GCSViews.ConfigurationView.Setup();
                log.Info("Create SIM");
                Simulation = new GCSViews.Simulation();
                //Firmware = new GCSViews.Firmware();
                //Terminal = new GCSViews.Terminal();

                // preload
                log.Info("Create Python");
                Python.CreateEngine();

                FlightData.Width = MyView.Width;
                FlightPlanner.Width = MyView.Width;
                Simulation.Width = MyView.Width;
            }
            catch (ArgumentException e)
            {
                //http://www.microsoft.com/en-us/download/details.aspx?id=16083
                //System.ArgumentException: Font 'Arial' does not support style 'Regular'.

                log.Fatal(e);
                CustomMessageBox.Show(e.ToString() + "\n\n Font Issues? Please install this http://www.microsoft.com/en-us/download/details.aspx?id=16083");
                //splash.Close();
                //this.Close();
                Application.Exit();
            }
            catch (Exception e) { log.Fatal(e); CustomMessageBox.Show("A Major error has occured : " + e.ToString()); Application.Exit(); }

            if (MainV2.config["CHK_GDIPlus"] != null)
                GCSViews.FlightData.myhud.UseOpenGL = !bool.Parse(MainV2.config["CHK_GDIPlus"].ToString());

            try
            {
                if (config["MainLocX"] != null && config["MainLocY"] != null)
                {
                    this.StartPosition = FormStartPosition.Manual;
                    Point startpos = new Point(int.Parse(config["MainLocX"].ToString()), int.Parse(config["MainLocY"].ToString()));
                    this.Location = startpos;
                }

                if (config["MainMaximised"] != null)
                {
                    this.WindowState = (FormWindowState)Enum.Parse(typeof(FormWindowState), config["MainMaximised"].ToString());
                    // dont allow minimised start state
                    if (this.WindowState == FormWindowState.Minimized)
                    {
                        this.WindowState = FormWindowState.Normal;
                        this.Location = new Point(100, 100);
                    }
                }

                if (config["MainHeight"] != null)
                    this.Height = int.Parse(config["MainHeight"].ToString());
                if (config["MainWidth"] != null)
                    this.Width = int.Parse(config["MainWidth"].ToString());

                if (config["CMB_rateattitude"] != null)
                    MainV2.comPort.MAV.cs.rateattitude = byte.Parse(config["CMB_rateattitude"].ToString());
                if (config["CMB_rateposition"] != null)
                    MainV2.comPort.MAV.cs.rateposition = byte.Parse(config["CMB_rateposition"].ToString());
                if (config["CMB_ratestatus"] != null)
                    MainV2.comPort.MAV.cs.ratestatus = byte.Parse(config["CMB_ratestatus"].ToString());
                if (config["CMB_raterc"] != null)
                    MainV2.comPort.MAV.cs.raterc = byte.Parse(config["CMB_raterc"].ToString());
                if (config["CMB_ratesensors"] != null)
                    MainV2.comPort.MAV.cs.ratesensors = byte.Parse(config["CMB_ratesensors"].ToString());

                if (config["speechenable"] != null)
                    MainV2.speechEnable = bool.Parse(config["speechenable"].ToString());

                if (MainV2.config["analyticsoptout"] != null)
                    MissionPlanner.Utilities.Tracking.OptOut = bool.Parse(config["analyticsoptout"].ToString());

                if (MainV2.config["advancedview"] != null)
                {
                    MainV2.Advanced = bool.Parse(config["advancedview"].ToString());
                }
                else
                {
                    // existing user - enable advanced view
                    if (MainV2.config.Count > 3)
                    {
                        config["advancedview"] = true.ToString();
                        MainV2.Advanced = true;
                    }
                    else
                    {
                        config["advancedview"] = false.ToString();
                    }
                }

                try
                {
                    if (config["TXT_homelat"] != null)
                        MainV2.comPort.MAV.cs.HomeLocation.Lat = double.Parse(config["TXT_homelat"].ToString());

                    if (config["TXT_homelng"] != null)
                        MainV2.comPort.MAV.cs.HomeLocation.Lng = double.Parse(config["TXT_homelng"].ToString());

                    if (config["TXT_homealt"] != null)
                        MainV2.comPort.MAV.cs.HomeLocation.Alt = double.Parse(config["TXT_homealt"].ToString());
                }
                catch { }
            }
            catch { }

            if (MainV2.comPort.MAV.cs.rateattitude == 0) // initilised to 10, configured above from save
            {
                CustomMessageBox.Show("NOTE: your attitude rate is 0, the hud will not work\nChange in Configuration > Planner > Telemetry Rates");
            }

            // log dir

            if (config["logdirectory"] != null)
                MainV2.LogDir = config["logdirectory"].ToString();

            //System.Threading.Thread.Sleep(2000);

            // make sure new enough .net framework is installed
            if (!MONO)
            {
                Microsoft.Win32.RegistryKey installed_versions = Microsoft.Win32.Registry.LocalMachine.OpenSubKey(@"SOFTWARE\Microsoft\NET Framework Setup\NDP");
                string[] version_names = installed_versions.GetSubKeyNames();
                //version names start with 'v', eg, 'v3.5' which needs to be trimmed off before conversion
                double Framework = Convert.ToDouble(version_names[version_names.Length - 1].Remove(0, 1), CultureInfo.InvariantCulture);
                int SP = Convert.ToInt32(installed_versions.OpenSubKey(version_names[version_names.Length - 1]).GetValue("SP", 0));

                if (Framework < 4.0)
                {
                    CustomMessageBox.Show("This program requires .NET Framework 4.0. You currently have " + Framework);
                }
            }

            if (Program.Logo != null)
            {
                this.Icon = Icon.FromHandle(((Bitmap)Program.Logo).GetHicon());
            }

            if (Program.Logo != null && Program.vvvvz)
            {
                MenuDonate.Click -= this.toolStripMenuItem1_Click;
                MenuDonate.Text = "";
                MenuDonate.Image = Program.Logo;

                MenuDonate.Click += MenuCustom_Click;

                MenuFlightData.Visible = false;
                MenuFlightPlanner.Visible = true;
                MenuConfigTune.Visible = false;
                MenuHelp.Visible = false;
                MenuInitConfig.Visible = false;
                MenuSimulation.Visible = false;
                MenuTerminal.Visible = false;
            }

            Application.DoEvents();

            Comports.Add(comPort);

            // setup adsb
            Utilities.adsb.UpdatePlanePosition += adsb_UpdatePlanePosition;
            new Utilities.adsb();

            //int fixmenextrelease;
            // if (MainV2.getConfig("fixparams") == "")
            {
                //    Utilities.ParameterMetaDataParser.GetParameterInformation();
                //    MainV2.config["fixparams"] = 1;
            }
        }
示例#8
0
        public static void Main(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");

            Thread = Thread.CurrentThread;

            System.Windows.Forms.Application.EnableVisualStyles();
            XmlConfigurator.Configure();
            log.Info("******************* Logging Configured *******************");
            System.Windows.Forms.Application.SetCompatibleTextRenderingDefault(false);

            ServicePointManager.DefaultConnectionLimit = 10;

            System.Windows.Forms.Application.ThreadException += Application_ThreadException;

            AppDomain.CurrentDomain.UnhandledException += new UnhandledExceptionEventHandler(CurrentDomain_UnhandledException);

            // 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();
            }

            // setup theme provider
            CustomMessageBox.ApplyTheme += MissionPlanner.Utilities.ThemeManager.ApplyThemeTo;
            Controls.MainSwitcher.ApplyTheme += MissionPlanner.Utilities.ThemeManager.ApplyThemeTo;
            MissionPlanner.Controls.InputBox.ApplyTheme += MissionPlanner.Utilities.ThemeManager.ApplyThemeTo;

            // setup settings provider
            MissionPlanner.Comms.CommsBase.Settings += CommsBase_Settings;

            // 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.MapBox.Instance);
            GMap.NET.MapProviders.GMapProviders.List.Add(Maps.MapboxNoFly.Instance);

            // add proxy settings
            GMap.NET.MapProviders.GMapProvider.WebProxy = WebRequest.GetSystemWebProxy();
            GMap.NET.MapProviders.GMapProvider.WebProxy.Credentials = CredentialCache.DefaultCredentials;

            WebRequest.DefaultWebProxy = WebRequest.GetSystemWebProxy();
            WebRequest.DefaultWebProxy.Credentials = CredentialCache.DefaultNetworkCredentials;

            string name = "Mission Planner";

            if (File.Exists(Application.StartupPath + Path.DirectorySeparatorChar + "logo.txt"))
                name = File.ReadAllText(Application.StartupPath + Path.DirectorySeparatorChar + "logo.txt", Encoding.UTF8);

            if (File.Exists(Application.StartupPath + Path.DirectorySeparatorChar + "logo.png"))
                Logo = new Bitmap(Application.StartupPath + Path.DirectorySeparatorChar + "logo.png");

            if (name == "VVVVZ")
            {
                vvvvz = true;
                // set pw
                MainV2.config["password"] = "******";
                MainV2.config["password_protect"] = "True";
                // prevent wizard
                MainV2.config["newuser"] = "******";
                // invalidate update url
                System.Configuration.ConfigurationManager.AppSettings["UpdateLocationVersion"] = "";
            }

            CleanupFiles();  

            //fontgen.dowork();

            //adsb.server = "64.93.124.152";
            //adsb.serverport = 31001;
            //adsb.serverport = 30003;

            //Utilities.Airports.ReadUNLOCODE(@"C:\Users\hog\Desktop\2013-2 UNLOCODE CodeListPart1.csv");
            //Utilities.Airports.ReadUNLOCODE(@"C:\Users\hog\Desktop\2013-2 UNLOCODE CodeListPart2.csv");
            //Utilities.Airports.ReadUNLOCODE(@"C:\Users\hog\Desktop\2013-2 UNLOCODE CodeListPart3.csv");
            //Utilities.Airports.ReadPartow(@"C:\Users\hog\Desktop\GlobalAirportDatabase.txt");


            /*
            Arduino.ArduinoSTKv2 comport = new Arduino.ArduinoSTKv2();

            comport.PortName = "com8";

            comport.BaudRate = 115200;

            comport.Open();

            Arduino.Chip.Populate();

            if (comport.connectAP())
            {
                Arduino.Chip chip = comport.getChipType();
                Console.WriteLine(chip);
            }
            Console.ReadLine();

            return;
            */
            /*
            Comms.SerialPort sp = new Comms.SerialPort();

            sp.PortName = "com8";
            sp.BaudRate = 115200;

            CurrentState cs = new CurrentState();

            MAVLink mav = new MAVLink();

            mav.BaseStream = sp;

            mav.Open();

            HIL.XPlane xp = new HIL.XPlane();

            xp.SetupSockets(49005, 49000, "127.0.0.1");

            HIL.Hil.sitl_fdm data = new HIL.Hil.sitl_fdm();

            while (true)
            {
                while (mav.BaseStream.BytesToRead > 0)
                    mav.readPacket();

                // update all stats
                cs.UpdateCurrentSettings(null);

                xp.GetFromSim(ref data);
                xp.GetFromAP(); // no function

                xp.SendToAP(data);
                xp.SendToSim();

                MAVLink.mavlink_rc_channels_override_t rc = new MAVLink.mavlink_rc_channels_override_t();

                rc.chan3_raw = 1500;

                mav.sendPacket(rc);
                
            }       */
        
           // return;
          //  OSDVideo vid = new OSDVideo();

         //   vid.ShowDialog();

         //   return;
             
          //  if (Debugger.IsAttached)
          //      ThemeManager.doxamlgen();

            if (File.Exists("simple.txt"))
            {
                Application.Run(new GCSViews.Simple());
                return;
            }

            Splash = new MissionPlanner.Splash();
            string strVersion = System.Reflection.Assembly.GetExecutingAssembly().GetName().Version.ToString();
            Splash.Text = name+" " + Application.ProductVersion + " build " + strVersion;
            Splash.Show();

            Application.DoEvents();

            try
            {
                //System.Diagnostics.Process.GetCurrentProcess().PriorityClass = System.Diagnostics.ProcessPriorityClass.RealTime;

                Thread.CurrentThread.Name = "Base Thread";
                MainV2 misplanner = new MainV2();
                MissionPlanner.Wizard.Wizard a = new MissionPlanner.Wizard.Wizard();
                Application.Run(misplanner);
                
               
            }
            catch (Exception ex)
            {
                log.Fatal("Fatal app exception", ex);
                Console.WriteLine(ex.ToString());

                Console.WriteLine("\nPress any key to exit!");
                Console.ReadLine();
            }
        }
示例#9
0
        public MainV2()
        {
            log.Info("Mainv2 ctor");

            SetStyle(ControlStyles.OptimizedDoubleBuffer, true);

            // set this before we reset it
            Settings.Instance["NUM_tracklength"] = "200";

            // create one here - but override on load
            Settings.Instance["guid"] = Guid.NewGuid().ToString();

            // load config
            LoadConfig();

            // force language to be loaded
            L10N.GetConfigLang();

            ShowAirports = true;

            // setup adsb
            Utilities.adsb.UpdatePlanePosition += adsb_UpdatePlanePosition;

            Form splash = Program.Splash;

            splash.Refresh();

            Application.DoEvents();

            instance = this;

            //disable dpi scaling
            if (Font.Name != "宋体")
            {
                //Chinese displayed normally when scaling. But would be too small or large using this line of code.
                using (var g = CreateGraphics())
                {
                    Font = new Font(Font.Name, 8.25f*96f/g.DpiX, Font.Style, Font.Unit, Font.GdiCharSet,
                        Font.GdiVerticalFont);
                }
            }

            InitializeComponent();
            try
            {
                if(Settings.Instance["theme"] != null)
                    ThemeManager.SetTheme((ThemeManager.Themes)Enum.Parse(typeof(ThemeManager.Themes), Settings.Instance["theme"]));
            }
            catch
            {
            }
            Utilities.ThemeManager.ApplyThemeTo(this);
            MyView = new MainSwitcher(this);

            View = MyView;

            //startup console
            TCPConsole.Write((byte) 'S');

            // start listener
            UDPVideoShim.Start();

            _connectionControl = toolStripConnectionControl.ConnectionControl;
            _connectionControl.CMB_baudrate.TextChanged += this.CMB_baudrate_TextChanged;
            _connectionControl.CMB_serialport.SelectedIndexChanged += this.CMB_serialport_SelectedIndexChanged;
            _connectionControl.CMB_serialport.Click += this.CMB_serialport_Click;
            _connectionControl.cmb_sysid.Click += cmb_sysid_Click;

            _connectionControl.ShowLinkStats += (sender, e) => ShowConnectionStatsForm();
            srtm.datadirectory = Settings.GetDataDirectory() +
                                 "srtm";

            var t = Type.GetType("Mono.Runtime");
            MONO = (t != null);

            speechEngine = new Speech();

            Warnings.CustomWarning.defaultsrc = comPort.MAV.cs;
            Warnings.WarningEngine.Start();

            // proxy loader - dll load now instead of on config form load
            new Transition(new TransitionType_EaseInEaseOut(2000));

            foreach (object obj in Enum.GetValues(typeof (Firmwares)))
            {
                _connectionControl.TOOL_APMFirmware.Items.Add(obj);
            }

            if (_connectionControl.TOOL_APMFirmware.Items.Count > 0)
                _connectionControl.TOOL_APMFirmware.SelectedIndex = 0;

            comPort.BaseStream.BaudRate = 115200;

            PopulateSerialportList();
            if (_connectionControl.CMB_serialport.Items.Count > 0)
            {
                _connectionControl.CMB_baudrate.SelectedIndex = 8;
                _connectionControl.CMB_serialport.SelectedIndex = 0;
            }
            // ** Done

            splash.Refresh();
            Application.DoEvents();

            // load last saved connection settings
            string temp = Settings.Instance.ComPort;
            if (!string.IsNullOrEmpty(temp))
            {
                _connectionControl.CMB_serialport.SelectedIndex = _connectionControl.CMB_serialport.FindString(temp);
                if (_connectionControl.CMB_serialport.SelectedIndex == -1)
                {
                    _connectionControl.CMB_serialport.Text = temp; // allows ports that dont exist - yet
                }
                comPort.BaseStream.PortName = temp;
                comPortName = temp;
            }
            string temp2 = Settings.Instance.BaudRate;
            if (!string.IsNullOrEmpty(temp2))
            {
                _connectionControl.CMB_baudrate.SelectedIndex = _connectionControl.CMB_baudrate.FindString(temp2);
                if (_connectionControl.CMB_baudrate.SelectedIndex == -1)
                {
                    _connectionControl.CMB_baudrate.Text = temp2;
                }
            }
            string temp3 = Settings.Instance.APMFirmware;
            if (!string.IsNullOrEmpty(temp3))
            {
                _connectionControl.TOOL_APMFirmware.SelectedIndex =
                    _connectionControl.TOOL_APMFirmware.FindStringExact(temp3);
                if (_connectionControl.TOOL_APMFirmware.SelectedIndex == -1)
                    _connectionControl.TOOL_APMFirmware.SelectedIndex = 0;
                MainV2.comPort.MAV.cs.firmware =
                    (MainV2.Firmwares) Enum.Parse(typeof (MainV2.Firmwares), _connectionControl.TOOL_APMFirmware.Text);
            }

            MissionPlanner.Utilities.Tracking.cid = new Guid(Settings.Instance["guid"].ToString());

            // setup guids for droneshare
            if (!Settings.Instance.ContainsKey("plane_guid"))
                Settings.Instance["plane_guid"] = Guid.NewGuid().ToString();

            if (!Settings.Instance.ContainsKey("copter_guid"))
                Settings.Instance["copter_guid"] = Guid.NewGuid().ToString();

            if (!Settings.Instance.ContainsKey("rover_guid"))
                Settings.Instance["rover_guid"] = Guid.NewGuid().ToString();

            if (Settings.Instance.ContainsKey("language") && !string.IsNullOrEmpty(Settings.Instance["language"]))
            {
                changelanguage(CultureInfoEx.GetCultureInfo(Settings.Instance["language"]));
            }

            this.Text = splash.Text;
            titlebar = splash.Text;

            if (!MONO) // windows only
            {
                if (Settings.Instance["showconsole"] != null && Settings.Instance["showconsole"].ToString() == "True")
                {
                }
                else
                {
                    int win = NativeMethods.FindWindow("ConsoleWindowClass", null);
                    NativeMethods.ShowWindow(win, NativeMethods.SW_HIDE); // hide window
                }

                // prevent system from sleeping while mp open
                var previousExecutionState =
                    NativeMethods.SetThreadExecutionState(NativeMethods.ES_CONTINUOUS | NativeMethods.ES_SYSTEM_REQUIRED);
            }

            ChangeUnits();

            if (Settings.Instance["theme"] != null)
            {
                try
                {
                    ThemeManager.SetTheme(
                        (ThemeManager.Themes)
                            Enum.Parse(typeof (ThemeManager.Themes), Settings.Instance["theme"].ToString()));
                }
                catch (Exception exception)
                {
                    log.Error(exception);
                }

                if (ThemeManager.CurrentTheme == ThemeManager.Themes.Custom)
                {
                    try
                    {
                        ThemeManager.BGColor = Color.FromArgb(int.Parse(Settings.Instance["theme_bg"].ToString()));
                        ThemeManager.ControlBGColor = Color.FromArgb(int.Parse(Settings.Instance["theme_ctlbg"].ToString()));
                        ThemeManager.TextColor = Color.FromArgb(int.Parse(Settings.Instance["theme_text"].ToString()));
                        ThemeManager.ButBG = Color.FromArgb(int.Parse(Settings.Instance["theme_butbg"].ToString()));
                        ThemeManager.ButBorder = Color.FromArgb(int.Parse(Settings.Instance["theme_butbord"].ToString()));
                    }
                    catch
                    {
                        log.Error("Bad Custom theme - reset to standard");
                        ThemeManager.SetTheme(ThemeManager.Themes.BurntKermit);
                    }
                }

                if (ThemeManager.CurrentTheme == ThemeManager.Themes.HighContrast)
                {
                    switchicons(new highcontrastmenuicons());
                }
            }

            if (Settings.Instance["showairports"] != null)
            {
                MainV2.ShowAirports = bool.Parse(Settings.Instance["showairports"]);
            }

            // set default
            ShowTFR = true;
            // load saved
            if (Settings.Instance["showtfr"] != null)
            {
                MainV2.ShowTFR = Settings.Instance.GetBoolean("showtfr");
            }

            if (Settings.Instance["enableadsb"] != null)
            {
                MainV2.instance.EnableADSB = Settings.Instance.GetBoolean("enableadsb");
            }

            try
            {
                log.Info("Create FD");
                FlightData = new GCSViews.FlightData();
                log.Info("Create FP");
                FlightPlanner = new GCSViews.FlightPlanner();
                //Configuration = new GCSViews.ConfigurationView.Setup();
                log.Info("Create SIM");
                Simulation = new SITL();
                //Firmware = new GCSViews.Firmware();
                //Terminal = new GCSViews.Terminal();

                FlightData.Width = MyView.Width;
                FlightPlanner.Width = MyView.Width;
                Simulation.Width = MyView.Width;
            }
            catch (ArgumentException e)
            {
                //http://www.microsoft.com/en-us/download/details.aspx?id=16083
                //System.ArgumentException: Font 'Arial' does not support style 'Regular'.

                log.Fatal(e);
                CustomMessageBox.Show(e.ToString() +
                                      "\n\n Font Issues? Please install this http://www.microsoft.com/en-us/download/details.aspx?id=16083");
                //splash.Close();
                //this.Close();
                Application.Exit();
            }
            catch (Exception e)
            {
                log.Fatal(e);
                CustomMessageBox.Show("A Major error has occured : " + e.ToString());
                Application.Exit();
            }

            //set first instance display configuration
            if (DisplayConfiguration == null)
            {
                DisplayConfiguration = DisplayConfiguration.Basic();
            }

            // load old config
            if (Settings.Instance["advancedview"] != null)
            {
                if (Settings.Instance.GetBoolean("advancedview") == true)
                {
                    DisplayConfiguration = new DisplayView().Advanced();
                }
                // remove old config
                Settings.Instance.Remove("advancedview");
            }            //// load this before the other screens get loaded
            if (Settings.Instance["displayview"] != null)
            {
                try
                {
                DisplayConfiguration = Settings.Instance.GetDisplayView("displayview");
            }
                catch
                {
                    DisplayConfiguration = DisplayConfiguration.Basic();
                    Settings.Instance["displayview"] = MainV2.DisplayConfiguration.ConvertToString();
                }
            }

            LayoutChanged += updateLayout;
            LayoutChanged(null, EventArgs.Empty);

            if (Settings.Instance["CHK_GDIPlus"] != null)
                GCSViews.FlightData.myhud.UseOpenGL = !bool.Parse(Settings.Instance["CHK_GDIPlus"].ToString());

            if (Settings.Instance["CHK_hudshow"] != null)
                GCSViews.FlightData.myhud.hudon = bool.Parse(Settings.Instance["CHK_hudshow"].ToString());

            try
            {
                if (Settings.Instance["MainLocX"] != null && Settings.Instance["MainLocY"] != null)
                {
                    this.StartPosition = FormStartPosition.Manual;
                    Point startpos = new Point(Settings.Instance.GetInt32("MainLocX"),
                        Settings.Instance.GetInt32("MainLocY"));

                    // fix common bug which happens when user removes a monitor, the app shows up
                    // offscreen and it is very hard to move it onscreen.  Also happens with 
                    // remote desktop a lot.  So this only restores position if the position
                    // is visible.
                    foreach (Screen s in Screen.AllScreens)
                    {
                        if (s.WorkingArea.Contains(startpos))
                        {
                            this.Location = startpos;
                            break;
                        }
                    }

                }

                if (Settings.Instance["MainMaximised"] != null)
                {
                    this.WindowState =
                        (FormWindowState) Enum.Parse(typeof (FormWindowState), Settings.Instance["MainMaximised"]);
                    // dont allow minimised start state
                    if (this.WindowState == FormWindowState.Minimized)
                    {
                        this.WindowState = FormWindowState.Normal;
                        this.Location = new Point(100, 100);
                    }
                }

                if (Settings.Instance["MainHeight"] != null)
                    this.Height = Settings.Instance.GetInt32("MainHeight");
                if (Settings.Instance["MainWidth"] != null)
                    this.Width = Settings.Instance.GetInt32("MainWidth");

                if (Settings.Instance["CMB_rateattitude"] != null)
                    CurrentState.rateattitudebackup = Settings.Instance.GetByte("CMB_rateattitude");
                if (Settings.Instance["CMB_rateposition"] != null)
                    CurrentState.ratepositionbackup = Settings.Instance.GetByte("CMB_rateposition");
                if (Settings.Instance["CMB_ratestatus"] != null)
                    CurrentState.ratestatusbackup = Settings.Instance.GetByte("CMB_ratestatus");
                if (Settings.Instance["CMB_raterc"] != null)
                    CurrentState.ratercbackup = Settings.Instance.GetByte("CMB_raterc");
                if (Settings.Instance["CMB_ratesensors"] != null)
                    CurrentState.ratesensorsbackup = Settings.Instance.GetByte("CMB_ratesensors");

                // make sure rates propogate
                MainV2.comPort.MAV.cs.ResetInternals();

                if (Settings.Instance["speechenable"] != null)
                    MainV2.speechEnable = Settings.Instance.GetBoolean("speechenable");

                if (Settings.Instance["analyticsoptout"] != null)
                    MissionPlanner.Utilities.Tracking.OptOut = Settings.Instance.GetBoolean("analyticsoptout");

                try
                {
                    if (Settings.Instance["TXT_homelat"] != null)
                        MainV2.comPort.MAV.cs.HomeLocation.Lat = Settings.Instance.GetDouble("TXT_homelat");

                    if (Settings.Instance["TXT_homelng"] != null)
                        MainV2.comPort.MAV.cs.HomeLocation.Lng = Settings.Instance.GetDouble("TXT_homelng");

                    if (Settings.Instance["TXT_homealt"] != null)
                        MainV2.comPort.MAV.cs.HomeLocation.Alt = Settings.Instance.GetDouble("TXT_homealt");

                    // remove invalid entrys
                    if (Math.Abs(MainV2.comPort.MAV.cs.HomeLocation.Lat) > 90 ||
                        Math.Abs(MainV2.comPort.MAV.cs.HomeLocation.Lng) > 180)
                        MainV2.comPort.MAV.cs.HomeLocation = new PointLatLngAlt();
                }
                catch
                {
                }
            }
            catch
            {
            }

            if (CurrentState.rateattitudebackup == 0) // initilised to 10, configured above from save
            {
                CustomMessageBox.Show(
                    "NOTE: your attitude rate is 0, the hud will not work\nChange in Configuration > Planner > Telemetry Rates");
            }
            
            // create log dir if it doesnt exist
            try
            {
                if (!Directory.Exists(Settings.Instance.LogDir))
                    Directory.CreateDirectory(Settings.Instance.LogDir);
            }
            catch (Exception ex) { log.Error(ex); }

            Microsoft.Win32.SystemEvents.PowerModeChanged += SystemEvents_PowerModeChanged;

            // make sure new enough .net framework is installed
            if (!MONO)
            {
                Microsoft.Win32.RegistryKey installed_versions =
                    Microsoft.Win32.Registry.LocalMachine.OpenSubKey(@"SOFTWARE\Microsoft\NET Framework Setup\NDP");
                string[] version_names = installed_versions.GetSubKeyNames();
                //version names start with 'v', eg, 'v3.5' which needs to be trimmed off before conversion
                double Framework = Convert.ToDouble(version_names[version_names.Length - 1].Remove(0, 1),
                    CultureInfo.InvariantCulture);
                int SP =
                    Convert.ToInt32(installed_versions.OpenSubKey(version_names[version_names.Length - 1])
                        .GetValue("SP", 0));

                if (Framework < 4.0)
                {
                    CustomMessageBox.Show("This program requires .NET Framework 4.0. You currently have " + Framework);
                }
            }

            if (Program.IconFile != null)
            {
                this.Icon = Icon.FromHandle(((Bitmap)Program.IconFile).GetHicon());
            }

            if (Program.Logo != null && Program.name == "VVVVZ")
            {
                MenuDonate.Click -= this.toolStripMenuItem1_Click;
                MenuDonate.Text = "";
                MenuDonate.Image = Program.Logo;

                MenuDonate.Click += MenuCustom_Click;

                MenuFlightData.Visible = false;
                MenuFlightPlanner.Visible = true;
                MenuConfigTune.Visible = false;
                MenuHelp.Visible = false;
                MenuInitConfig.Visible = false;
                MenuSimulation.Visible = false;
                MenuTerminal.Visible = false;
            }
            else if (Program.Logo != null && Program.names.Contains(Program.name))
            {
                MenuDonate.Click -= this.toolStripMenuItem1_Click;
                MenuDonate.Text = "";
                MenuDonate.Image = Program.Logo;
            }

            Application.DoEvents();

            Comports.Add(comPort);

            MainV2.comPort.MavChanged += comPort_MavChanged;

            // save config to test we have write access
            SaveConfig();
        }