internal void ProcessDeviceChanged(MainV2.WM_DEVICECHANGE_enum dc) {
if (DeviceChanged != null)
{
try
{
DeviceChanged(dc);
}
catch { }
}
}
public static CultureInfo GetConfigLang()
{
CultureInfo ci = CultureInfoEx.GetCultureInfo(MainV2.getConfig("language"));
if (ci != null)
{
return(ci);
}
else
{
return(System.Globalization.CultureInfo.CurrentUICulture);
}
}
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;
}
/// <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();
}
static MainV2()
{
instance = new MainV2();
}
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);
}
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;
}
}
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();
}
}
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();
}